Component and user management for UAV systems

ABSTRACT

A system for managing an unmanned aerial vehicle (UAV) include one or more storage media storing offline data that comprises verified information associated with a user, an input device configured to receive an input from the user, and one or more processors, individually or collectively configured to determine whether a connection to an online database is established and, if the connection to the database is not established, process the input and the offline data; and manage a flight of the UAV according to the processing of the input and the offline data.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of International Application No.PCT/CN2016/100455, filed on Sep. 27, 2016, the entire contents of whichare incorporated herein by reference.

BACKGROUND OF THE DISCLOSURE

Unmanned vehicles, such as unmanned aerial vehicles (UAVs) have beendeveloped for use in a variety of fields, including consumer andindustry applications. For instance, UAVs may be flown for recreation,photography/videography, surveillance, delivery, or other applications.

Increasingly, not only UAVs but various components utilized inassociation with the UAVs are becoming prevalent and expandingdimensions of the lives of individuals and industries they are involvedwith. As their uses are becoming more prevalent however, ability toproperly manage UAVs and associated components for various users arebecoming increasing concerns.

SUMMARY OF THE DISCLOSURE

Systems and methods described herein improve flight safety of unmannedaerial vehicles (UAVs). Systems and methods may be provided which mayaid in registering, managing, and authenticating UAVs and variouscomponents (e.g. users, controllers, sensors, etc) utilized with theUAVs. The systems may uniquely identify various components (e.g. UAV,sensors, flight controllers, payloads, controllers, mobile devices, etc)and parties (e.g. users, owners, managers, operators, etc) that areinteracting. In some instances, the systems and methods may further aidin registering, managing, and authenticating the UAV and components forvarious parties, such as users, owners, managers, and operators. Forexample, the platform may permit individualized management of parametersfor the involved UAV and/or components. Personalized flight regulationsmay be imposed on UAV operation, and may override user manual controls.

Thus, in one aspect, a system for managing an unmanned aerial vehicle(UAV) is provided. The system comprises: one or more storage modulesconfigured to store data received from an online database, wherein thedata comprises verified information associated with a user; an inputmodule configured to receive an input from the user; and one or moreprocessors, individually or collectively configured to: determinewhether a connection to the database can be established; process theinput and the stored data if the connection to the database cannot beestablished; and manage a flight of the UAV according to the processingof the input and the stored data.

In another aspect, a method for managing an unmanned aerial vehicle(UAV) is provided. The method comprises: storing, at one or more storagemodules, data received from an online database, wherein the datacomprises verified information associated with a user; receiving, at aninput module, an input from the user; with aid of one or moreprocessors, individual or collectively, determining whether a connectionto the database can be established; processing the input and the storeddata if the connection to the database cannot be established; andmanaging a flight of the UAV according to the processing of the inputand the stored data.

In another aspect, a non-transitory computer readable medium formanaging an unmanned aerial vehicle (UAV) is provided. The computerreadable medium comprising code, logic, or instructions to: store, atone or more storage modules, data received from an online database,wherein the data comprises verified information associated with a user;receive, at an input module, an input from the user; with aid of one ormore processors, individual or collectively, determine whether aconnection to the database can be established; process the input and thestored data if the connection to the database cannot be established; andmanage a flight of the UAV according to the processing of the input andthe stored data.

In another aspect, a system for restricting an unmanned aerial vehicle(UAV) for a user is provided. The system comprises: one or morereceivers configured to receive data from a database comprising verifiedinformation associated with a user of the UAV; an input moduleconfigured to receive an input from an operator of the UAV; and one ormore processors, individually or collectively, configured to: process,according to a predetermined criterion, whether the input is consistentwith the data; and impose a restriction on the UAV when the processingdeviates from said predetermined criterion, wherein a degree ofrestriction on the UAV is correlated with a degree of deviation from thepredetermined criterion.

In another aspect, a method for restricting an unmanned aerial vehicle(UAV) for a user is provided. The method comprises: receiving, at aninput module, an input from an operator of the UAV; with aid of one ormore processors, individual or collectively, processing, according to apredetermined criterion, whether the input is consistent with data froma database received at one or more receivers, wherein the data comprisesverified information associated with a user of the UAV; and imposing arestriction on the UAV when the processing deviate from saidpredetermined criterion, wherein a degree of restriction on the UAV iscorrelated with a degree of deviation from the predetermined criterion.

In another aspect, a non-transitory computer readable medium forrestricting an unmanned aerial vehicle (UAV) is provided. The computerreadable medium comprises code, logic, or instructions to: receive, atan input module, an input from an operator of the UAV; with aid of oneor more processors, individual or collectively, process, according to apredetermined criterion, whether the input is consistent with data froma database received at one or more receivers, wherein the data comprisesverified information associated with a user of the UAV; and impose arestriction on the UAV when the processing deviate from saidpredetermined criterion, wherein a degree of restriction on the UAV iscorrelated with a degree of deviation from the predetermined criterion.

In another aspect, a system for managing a component utilized inoperation of an unmanned aerial vehicle (UAV) is provided. The systemcomprises: one or more processors, individually or collectivelyconfigured to: receive data regarding an input received from a user at auser interface, wherein the input designates an operational parameterfor the component for a registered operator of the UAV; process thedata; and impose the operational parameter for the componentspecifically to the registered operator of the UAV.

In another aspect, a method for managing a component utilized inoperation of an unmanned aerial vehicle (UAV) is provided. The methodcomprises: with aid of one or more processors, individually orcollectively, receiving data regarding an input received from a user ata user interface, wherein the input designates an operational parameterfor the component for a registered operator of the UAV; processing thedata; and imposing the operational parameter for the component to theregistered operator of the UAV.

In another aspect, a non-transitory computer readable medium formanaging a component utilized in operation of an unmanned aerial vehicle(UAV) is provided. The computer readable medium comprises code, logic,or instructions to: with aid of one or more processors, individually orcollectively, receive data regarding an input received from a user at auser interface, wherein the input designates an operational parameterfor the component for a registered operator of the UAV; process thedata; and impose the operational parameter for the component to theregistered operator of the UAV.

In another aspect, a system for managing an unmanned aerial vehicle(UAV) is provided. The system comprises: a first component utilized inoperation of the UAV, the first component having a first identity andconfigured to communicate data with a second component having a secondidentity, wherein the data comprises information regarding the firstidentity and the second identity; one or more processors, individuallyor collectively, configured to: process a consistency between the firstidentity and the second identity; and manage a flight of the UAVaccording to the processing.

In another aspect, a method for managing an unmanned aerial vehicle(UAV) is provided. The method comprises: communicating data between afirst component having a first identity and a second component having asecond identity, wherein the data comprises information regarding thefirst identity and the second identity, and wherein each of the firstcomponent and the second component is utilized in operation of the UAV;with aid of one or more processors, individually or collectively,processing a consistency between the first identity and the secondidentity; and managing a flight of the UAV according to the processing.

In another aspect, a non-transitory computer readable medium formanaging an unmanned aerial vehicle (UAV) for a user is provided. Thecomputer readable medium comprises code, logic, or instructions to:communicate data between a first component having a first identity and asecond component having a second identity, wherein the data comprisesinformation regarding the first identity and the second identity, andwherein each of the first component and the second component areutilized in operation of the UAV; with aid of one or more processors,individually or collectively, process a consistency between the firstidentity and the second identity; and manage a flight of the UAVaccording to the processing.

In another aspect, a system for supporting unmanned aerial vehicle (UAV)workflow management for a user is provided. The system comprises: one ormore receivers configured to receive a trigger information for the UAV;one or more processors, individually or collectively configured to,process the trigger information; select a workflow from a plurality ofworkflows based on the processed trigger information, wherein theworkflow determines a process by which the user registers,authenticates, and/or manages the UAV; provide the workflow to the user.

In another aspect, a method for supporting unmanned aerial vehicle (UAV)workflow management for a user is provided. The method comprises:receiving, at one or more receivers, a trigger information for the UAV;with aid of one or more processors, individually or collectively,processing the trigger information; selecting a workflow from aplurality of workflows based on the processed trigger information,wherein the workflow determines a process by which the user registers,authenticates, and/or manages the UAV; providing the workflow to theuser.

In another aspect, a non-transitory computer readable medium forsupporting unmanned aerial vehicle (UAV) workflow management for a useris provided. The computer readable medium comprises code, logic, orinstructions to: receive, at one or more receivers, a triggerinformation for the UAV; with aid of one or more processors,individually or collectively, process the trigger information; select aworkflow from a plurality of workflows based on the processed triggerinformation, wherein the workflow determines a process by which the userregisters, authenticates, and/or manages the UAV; provide the workflowto the user.

It shall be understood that different aspects of the disclosure can beappreciated individually, collectively, or in combination with eachother. Various aspects of the disclosure described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of aerial vehicles,such as unmanned aerial vehicles, may apply to and be used for anymovable object, such as any vehicle. Additionally, the systems, devices,and methods disclosed herein in the context of aerial motion (e.g.,flight) may also be applied in the context of other types of motion,such as movement on the ground or on water, underwater motion, or motionin space.

Other objects and features of the present disclosure will becomeapparent by a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings of which:

FIG. 1 shows an example of various components and parties that may beinvolved in operation of one or more UAVs, in accordance withembodiments.

FIG. 2 shows an example of information contained in a database regardinga component, in accordance with embodiments.

FIG. 3 shows an example of other information contained in a databaseregarding a component, in accordance with embodiments.

FIG. 4 illustrates an exemplary authentication system, in accordancewith embodiments.

FIG. 5 illustrates a method for managing a component utilized inoperation of an unmanned aerial vehicle (UAV), in accordance withembodiments.

FIG. 6 shows an example of various factors that may go into generationof a set of flight regulations, in accordance with embodiments.

FIG. 7 illustrates a method for restricting a flight of an unmannedaerial vehicle (UAV) for a user, in accordance with embodiments.

FIG. 8 illustrates a system for managing offline identity and permissionmanagement for a UAV with network connectivity, in accordance withembodiments.

FIG. 9 illustrates a more detailed view of a system for managing offlineidentity and permission management for a UAV with network connectivity,in accordance with embodiments.

FIG. 10 illustrates a system for managing offline identity andpermission management for a UAV not having network connectivity, inaccordance with embodiments.

FIG. 11 illustrates a more detailed view of a system for managingoffline identity and permission management for a UAV without networkconnectivity, in accordance with embodiments.

FIG. 12 illustrates a method for managing a flight of an unmanned aerialvehicle (UAV), in accordance with embodiments.

FIG. 13 illustrates an identity matching system, in accordance withembodiments.

FIG. 14 illustrates a more detailed view of an identity matching system,in accordance with embodiments.

FIG. 15 illustrates an identity matching system connected to a database,in accordance with embodiments.

FIG. 16 illustrates a more detailed view of an identity matching system,in accordance with embodiments.

FIG. 17 illustrates a method for managing a flight of an unmanned aerialvehicle (UAV), in accordance with embodiments.

FIG. 18 illustrates a method for providing a workflow to a user of anunmanned aerial vehicle (UAV), in accordance with embodiments.

FIG. 19, illustrates other exemplary authentication systems in detail,in accordance with embodiments

FIG. 20 illustrates other exemplary authentication systems in detail, inaccordance with embodiments

FIG. 21 illustrates other exemplary authentication systems in detail, inaccordance with embodiments

FIG. 22 describes an exemplary system utilized for granting and managinguse permission for operators, in accordance with embodiments.

FIG. 23 illustrates an unmanned aerial vehicle (UAV), in accordance withembodiments of the present disclosure.

FIG. 24 illustrates a movable object including a carrier and a payload,in accordance with embodiments.

FIG. 25 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Unmanned vehicles, such as unmanned aerial vehicles (UAVs) may beoperated in accordance with a safety system for improving flight safetythe unmanned vehicles. Any description herein of UAVs may apply to anytype of unmanned vehicle (e.g., air-based vehicles, land-based vehicles,water-based vehicles, or space-based vehicles). Flight control andauthentication systems and methods may be provided which may aid inmonitoring and controlling UAV usage. The systems may uniquely identifyvarious components and/or parties that are interacting (e.g., owners,managers, users, operators, remote controllers, UAVs, sensors, other UAVcomponents, geo-fencing devices, etc). In some instances, anauthentication process may occur and only authorized parties may bepermitted to operate the UAV or various associated components. Flightregulations, also referred to herein as flight restrictions, may beimposed on UAV operation, and may override user manual controls.

Flight safety challenges during use of UAVs may arise in a number ofdifferent forms. For example, the flight of UAVs may not be restricted(e.g., UAVs may fly over somewhere it should be prohibited). Forinstance, UAVs may fly to sensitive areas without authorization, (e.g.,airport, military base). Furthermore, UAVs may fly into the course ofother aircrafts without authorization. UAVs may fly to the territory ofenterprise or individuals without authorization, causing noisepollution, personal injury and property damage. In some instances, UAVsmay fly to a public area without authorization, and may cause personalinjury and property damage. Where flight is restricted, the restrictionmay be globally based, e.g. on geography, temporal considerations,and/or based on activity. In some instances, continued connectivity(e.g. internet connectivity) may be required for authenticating UAVsand/or users. Systems and methods provided herein may provide a set offlight regulations which may impose the necessary restrictions on theUAVs, which may be component based and or user specific. A UAV mayautomatically comply with the flight regulations without requiring inputfrom a user. In some instances, controls may be generated for the UAVbased on flight regulations that may override manual input from a user.

A platform may be provided for managing information regarding thevarious parties and components that are interacting. The platform mayprovide an avenue in which relevant parties (e.g. owners, designatedmanagers, manufacturers, authorities, etc) may define a relationshipbetween the various components that are interacting. As one example, theplatform may provide an avenue to designate an operator of a UAV (orcomponent) and further designate a permission parameter for the givenUAV (or component) specific for the operator.

The platform may address various challenges to ensuring accountabilityand proper management of UAV components for various involved parties.For example, as UAVs become utilized in all aspects of life by variousindustries, use of UAV may involve more than a single party orindividual. Collaborative projects are becoming more commonplace wheredifferent components owned or managed by different parties are utilizedin conjunction to undertake novel applications. Accordingly, theplatform may provide an avenue for designating temporary or permanentoperators of UAV and its components and an appropriate permissionparameter as deemed by an owner or manager of the UAV (or component). Asanother example, an owner or manager of a UAV (or a specific component)may desire to impose different permission parameters for differentregistered operators such as friends, family, client, etc, and theplatform may provide an avenue for doing so.

The platform may further be utilized in registering the relevant UAVcomponents and/or the various parties involved and/or authenticatingthem for proper usage. In some instances, a relevant work flow may bedetermined (e.g. automatically) for a given user based on a triggerinformation. The trigger information may be utilized in providing arelevant workflow for registering, managing, and/or authenticatingvarious components and parties involved in flight of the UAV and mayadvantageously allow the platform to be utilized by differingjurisdictions which may have different requirement for the registration,management, and authentication processes.

In some instances, matching of the various components involved in flightof the UAV may be required. For example, the each of the UAV componentsmay comprise an identity. Optionally, the identities may be registeredto be utilized in concert with one another, e.g. on the platform. Amatching of identities of the UAV components may be required for flightof the UAV. Advantageously, matching of the UAV components may ensurethat the UAV or components are not improperly utilized in a way that isnot envisioned by owners or managers of the components. In someinstances, matching of the UAV components may ensure that impropercomponents are not utilized in flight of the UAV which may jeopardize aflight of the UAV. In some instances, the matching of identities mayallow an unrestricted flight. Optionally, inability to match identitiesof the components may restrict (e.g. prevent, limit, etc) a flight ofthe UAV and/or restrict a use of the components whose identity cannot bematched or verified.

In some instances, authentication of the UAV or its components may berequired. The authentication may involve comparing a user input toregistered information (e.g. in a database, registered via the platform,etc). Authentication may in some instances allow the UAV or itscomponents to operate within designated permission parameterspersonalized for the operator of the UAV at a given point in time. Forexample, the input may be verified (e.g. matched) with registeredinformation which may be associated with permission parameters for theuser of the input. In some instances, such authentication may berequired according to predetermined criteria to enhance safe flight andaccountability of the UAV flight. The predetermined criteria may bebased on temporal, location based, or optionally may be user configured.For example, flight safety may be increased by requiring a scheduledconnection such that UAV components and the parties involved inoperation of the UAV may be verified or authenticated.

Optionally, deviation from the predetermined criteria may be associatedwith restriction on flight or restriction on operational parameters forthe UAV or components. In some instances, a degree of restriction may becorrelated with a degree of deviation from the predetermined criteria.For example, if authentication is supposed to happen at set intervalsbut does not happen, a small restriction on an operational parameter ofthe UAV may be imposed but for continued lack of authentication, therestriction may increase until the UAV is grounded or reported to arelevant authority.

Authentication as referred above may require a connection to a database.In some instances, ensuring safe flight and accountability may bedesired where no connection can be established. Accordingly, an offlineprocess for authentication may be provided. Identity information (e.g.registered information on the database, etc) may be stored and comparedor verified against a user input. Utilizing an offline authenticationprocess, a region in which the UAV may operate in while ensuring safeflight and accountability may be maximized.

Systems and methods provided herein may monitor usage, which may ensureproper operation of the UAV and/or aid in identifying when misuse of aUAV is occurring. The data may also be used to forensically track theparties involved in the misuse or any related data. In some instances,flight data may be recorded and may be uploaded to relevant databases.Optionally, the upload may be compulsory and may ensure reliability andintegrity of flight history data. Systems and methods may also beprovided that may warn a user or other entity when misuse is occurringand/or override any controls that enable misuse.

System Overview

FIG. 1 shows an example of various components and parties that may beinvolved in operation of one or more UAVs, in accordance withembodiments. Components as used herein may refer to any componentdiscrete, or integrated with other components, that are utilized inoperation of a UAV. The components may also be referred to as UAVcomponents. A component may include, but are not limited to, UAVs 101,103, manual controllers 105, 107, mobile devices 109, 111, sensors 113,115, payloads 117, 119, propulsion units 121, 123, and/or any othercomponents 125, 127 (e.g. memory, battery, processing modules, userinput modules, storage modules, etc). Herein, manual controllers andmobile devices may collectively be referred to as remote controllers.Parties as used herein may refer to any individual or individualsinvolved in operation of the UAV. The parties may comprise users 101 a,103 a, 105 a, 107 a, 109 a of the components such as owners, managers(e.g. designated managers), or operators of the components. Theoperators of the components may be registered (e.g. authorized)operators. In some instances, the operators of the components may beunregistered or unauthorized operators. Optionally, the parties mayinclude control entities or such as governmental entities, flightcontrol managers, etc that are directly or indirectly involved inoperation of the UAV.

Components may be associated with UAVs, such as UAVs 101, 103. Thecomponents may be associated with a single UAV. Alternatively, thecomponents may be associated with 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 15,20, 30, 40, 50, 100 or more different UAVs. For example, the controller105 may be registered for use with UAV 101. Alternatively or inaddition, the controller 105 may be registered for use with UAV 103.Accordingly, a single remote controller (e.g. manual controller, mobiledevice, or both) may be utilized to operate two or more UAVs. In otherinstances, two or more controller may be utilized to operate a singleUAV. Each of the different UAV components may comprise different users,or owners. Optionally, some, or all of the different UAV componentsutilized in operation of the UAV may comprise a single user, or owner.

A user 101 a, 103 a, 105 a, 107 a, 109 a may be an individual associatedwith a UAV. The user may be a human operator. The user may be an adultor a child. In some instances, the user may have an authority level fora component. Differing authority levels may be provided for differentusers. Different authority levels may be provided for different users,for different components. As one example, two authority levels may beprovided for users. For example, a user may be a high level user or alow level user. In some instances, a high level user may haveunrestricted access or use of the component. Optionally, the high leveluser may have unrestricted access or use of the component subject toexternal factors such as restrictions imposed by relevant authorities,geofencing devices, flight control towers, etc.

In some instances, the high level user may designate a desiredrestriction or permission parameter for low level users, or forthemselves. For example, the high level user may designate a desiredrestriction or permission parameter on him or herself, or on a low leveluser. The permission parameter relate to any restriction or flightregulation described throughout. For example, the permission parametermay relate to a flight time of a UAV, a flight area of a UAV, a flightaltitude, a flight speed or acceleration, etc of a UAV that ispermitted. In some instances, the permission parameter may relate tovarious other UAV components. For example, the permission parameter mayrelate to an operational parameter of a payload or sensor operablycoupled to the UAV. Accordingly, the low level user may have an equal ormore limited access or use of the given component as compared to thehigh level user. Optionally, the low level user may have greater accessor use of the UAV component, e.g. if the first level user designates assuch.

The low level user may be prevented from operating outside a scope ofpermission designated by the high level user. In some instances, awarning signal may be provided to a high level user if the low leveluser operates, or attempts to operate outside the scope of permissiongranted by the high level user. Optionally, a high level user may bepermitted to monitor UAV component usage by the low level user(s). Forexample, a platform may be provided for recording UAV component usage,e.g. by the low level user that may be monitored by high level users.

In some instances, users of differing authority levels may comprise ahierarchy in operating a UAV. For example, the high level user may beable to takeover control from a low level user. A higher authority levelmay be indicative of a priority in which a user may operate a vehicle.For instance, a user at a higher operational level may have priorityover a user at a lower operational level in operating a UAV. The user atthe higher authority level may be able to take over control of the UAVfrom a user at a lower authority level. Operation of a UAV may be takenover by the second user from the first user, when the second user isauthorized to operate the UV and is of a higher operational level thanthe first user.

In some instances, users of differing authority levels may comprise ahierarchy in being alerted of the operation of a UAV. For example, highlevel user may be alerted when low level users are operating a UAV. Thehigh level user may be notified when the low level user takes overcontrol. For instance, an alert or message may be provided to the highlevel user. The alert or message may be provided via a remote controllerof the high level user. The alert may be visibly displayed, or may beaudible or tactilely discernible. In some embodiments, a low level usermay make a request to take over control of the UAV from the high leveluser. The high level user may choose to accept or deny the request.Alternatively, the low level user may be able to take over controlwithout requiring acceptance or permission from the high level user. Insome embodiments, there may be some lag time between when the high leveluser is alerted that the low level user is taking over control and whenthe low level user takes over control. Alternatively, little or no lagtime is provided, so that the low level user may be able to take overinstantaneously. A low level user may be able to take over controlwithin less than 1 minute, 30 seconds, 15 seconds, 10 seconds, 5seconds, 3 seconds, 2 seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.05seconds, or 0.01 seconds of making the attempt to take over control.

In some instances, multiple different authority levels may be provided.One, two, three, four, five, six, seven, right, nine, ten, or moredifferent authority levels may be provided. For example, at least threedifferent authority levels may be provided. The three differentauthority levels may comprise an owner of the component, a manager ofthe component (e.g. designated or registered manager), and an operatorof the component (e.g. designated or registered operator).

The owner may be an owner of the component. For example, the owner mayhave purchased the component. In some instances, the owner may holdlegal title to the component. In some instances, the owner may beregistered as an owner of the component. For example, the owner mayregister ownership of the component at relevant databases via a platformas further described below. The owner may or may not be an operator ofthe component. The owner may comprise ability or authority to furtherdesignate or confirm managers or operators of the component. The ownermay further comprise ability or authority to designate or confirm anoperational parameter for the component for a given manager or operator.In some instances, the owner may comprise ability or authority todelegate or confirm managerial authority. For example, the owner maycomprise ability to delegate or confirm managerial authority to managerssuch that the managers can further designate or verify operators of thecomponent. Optionally, the owner may delegate authority to the managerssuch that the managers can designate or confirm a permission parameterfor the component for an operator.

The manager may be a registered manager, e.g. for a UAV or UAVcomponent(s). In some instances, the manager may be designated, orappointed by the owner of the component. Optionally, the manager mayapply to manage the component and may be confirmed by the owner. Themanager may or may not be an operator of the UAV component. The managermay comprise ability or authority to designate or confirm operators ofthe component. Alternatively or in addition, the manager may compriseability or authority to designate or confirm an operational parameterfor a component for a given operator.

The user may be an operator of a UAV component. The user may be anindividual that is authorized to operate the component, such as a UAV.For example, the operator may be a registered operator of the componentand optionally may be authorized to operate the UAV. The operator mayprovide input to control the UAV. An operator may provide input tocontrol the component. In some instances, the operator may provide inputto control the component with a remote controller. An operator mayprovide an input configured to control flight of the UAV, operation of apayload of a UAV, a state of a payload relative to the UAV, operation ofone or more sensors of the UAV, operation of UAV communication, or otherfunctions related to the UAV. The operator may or may not haveline-of-sight with the component while operating the UAV. The operatormay directly communicate with the component using the remote controller.Alternatively, the operator may indirectly communicate with thecomponent (optionally, using the remote controller) over a network.

In some instances, different authority levels may exist in parallel andmay not follow a hierarchy as described above. For example, a user maybe an administrator. The administrator may be an administrator ofidentity registration, authentication and management for UAV componentsand/or users (e.g. other users). The administrator may includeadministrators designated by relevant jurisdictional authorities (e.g.nations, states, etc) and/or administrators from a UAV manufacturer. Theadministrators from may be able to configure requirements regardingidentity registration, authentication, and/or management as describedelsewhere. For example, the administrator may be capable of setting aformat requirement of the identity information that is required, aprocess for authentication and/or registration, etc.

Differing authority levels may be provided for administrators and eachadministrator may comprise an identity. Accordingly, identities andpermission levels of administrators may be managed (e.g. by higher leveladministrators). In some instances, the permission levels ofadministrators may relate to a control region of the administrators,validity period of the administrators, etc. In some instances, anadministrator having higher level permissions may designate thepermissions of those administrators having lower level permissionswithin his or her region. In some instances, communication in theidentity registration, authentication and management system may beencrypted. Those administrators having higher level permissions may besubjected to a higher level of information security. Administratorshaving both authentication and identity management capacities may nothave permission to fly a UAV.

A user may receive data from the UAV. Data acquired using one or moresensors of the UAV may be provided to the user, optionally via theremote controller. In some instances, the data may comprise flight data,or data related to an identity of the users or UAV components.Optionally, the data may be provided depending on an authority level.For example, the data may be provided to higher authority level users,e.g. when UAV components are operated by lower authority level users. Insome instances, the data may be observable on remote controllers, orother forms of user interfaces (e.g. computers). In some instances, thedata may be accessible via a platform as further described elsewhere.

Users

A user may have a user identifier (e.g., USER ID1, USER ID2, USER ID3, .. . ) that identifies the user. The user identifier may be unique to theuser. Other users may have different identifiers from user. A useridentifier may uniquely differentiate and/or distinguish the user fromother individuals. In some instances, a user identifier may uniquelydifferentiate and/or distinguish the user from other individuals forspecific UAV components. Each user may only be assigned a single useridentifier. Alternatively, a user may be able to register multiple useridentifiers. In some instances, a single user identifier may be assignedto only a single user. Alternatively, a single user identifier may beshared by multiple users.

Optionally, a user may be authenticated as being an authorized user forthe user identifier. An authentication process may include averification of the user's identity. An authentication process mayinclude matching a registered information regarding the user to a userinput. The authentication process may be utilized to impose a relevantoperational parameter (e.g. restriction) for the user based on the userinput. Examples of authentication processes are described in greaterdetail elsewhere herein.

UAV Components

A UAV system may comprise various UAV components. The UAV components mayinclude, but are not limited to, UAVs, manual controllers, mobiledevices, sensors, payloads, propulsion units, and/or any othercomponents such as memory, battery, processing modules, user inputmodules, storage modules, etc. Exemplary UAV components are describedbelow.

The UAV 101, 103 may be operable when powered on. The UAV may be inflight, or may be in a landed state. Various components may be utilizedin operation of the UAV. For example, the UAV may collect data using oneor more sensors (optionally, the payload may be a sensor). As anotherexample, controllers may be utilized to affect operation of the UAV, andthe UAV may operate in response to controls from the user (e.g.,manually through a remote controller), autonomously (e.g., withoutrequiring user input), or semi-autonomously (e.g., may include some userinput but may also include aspects that do not rely on user input). Asdescribed above, any and all components involved in operation of the UAVmay be referred to as a component, or UAV component. Components mayinclude, but are not limited to, UAVs, sensors, flight controllers,payloads, remote controllers (e.g. manual controllers, mobile devices,etc), memory devices, batteries, propulsion mechanisms, modular add onunits, etc.

The UAV may be capable of responding to commands from a remotecontroller including manual controllers 105, 107 and mobile devices 109,111. The remote controller may be not connected to the UAV. In someinstances, the remote controller may communicate with the UAV wirelesslyfrom a distance. The remote controller may accept and/or detect userinput. The UAV may be capable of following a set of pre-programmedinstructions. In some instances, the UAV may operate semi-autonomouslyby responding to one or more commands from a remote controller whileotherwise operating autonomously. For instance, one or more commandsfrom a remote controller may initiate a sequence of autonomous orsemi-autonomous actions by the UAV in accordance with one or moreparameters. The UAV may switch between being operated manually,autonomously, and/or semi-autonomously. In some instances, theactivities of the UAV may be governed by one or more sets of flightregulations.

A remote controller may be any type of device. The device may comprisecomputers (e.g., personal computer, laptop computer, server), mobiledevices (e.g., smartphone, cellular phone, tablet, personal digitalassistant), manual controller (e.g. controller with control sticks), orany other type of device. The device may be a network device capable ofcommunicating over a network. The device comprise one or more memorystorage units which may include non-transitory computer readable mediumwhich may store code, logic or instructions for performing one or moresteps described elsewhere herein. The device may include one or moreprocessors that may individually or collectively execute one or moresteps in accordance with the code, logic, or instructions of thenon-transitory computer readable medium as described herein. The remotecontroller may be handheld. The remote controller may accept inputs froma user via any user interactive mechanism. In one example, the devicemay have a touchscreen that may register a user input when the usertouches the screen, or swipes the screen. The device may have any othertype user interactive component, such as a button, mouse, joystick,trackball, touchpad, pen, inertial sensors, image capturing device,motion capture device, or microphone. The device may sense when thedevice is tilted, which may affect operation of the UAV. The remotecontroller may be a single piece configured to perform the variousfunctions of the remote controller described elsewhere herein.Alternatively, the remote controller may be provided as multiple piecesor components that may individually or collectively perform the variousfunctions of the remote controller as provided elsewhere herein. Forexample, the remote controller may comprise both a manual controller anda mobile device.

The remote controller may comprise a display device. The device may be auser terminal viewable by the user. The user terminal may also functionas a remote controller that may send one or more operational commands toa UAV. Examples of operations of the UAV that may be controlled by theuser may include flight, payload operation, payload positioning, carrieroperation, sensor operation, wireless communication, navigation, powerusage, item delivery, or any other operation of the UAV. Images from thecamera may be provided to the user terminal, or data from any othersensor may be provided to the user terminal.

The display device may include a screen or other type of display. Thescreen may be an LCD screen, CRT screen, plasma screen, LED screen,touchscreen, and/or may use any other technique to display informationknown or displayed later in the art.

The UAV may utilize one or more sensors. In some instances, the sensorsmay be sensors integrated with the UAV. Alternatively or in addition,the UAV may comprise sensors that can be attached, detached, and/orreattached. The UAV may comprise one or more vision sensors such as animage sensor. For example, an image sensor may be a monocular camera,stereo vision camera, radar, sonar, or an infrared camera. The UAV mayfurther comprise other sensors that may be used to determine a locationof the UAV, such as global positioning system (GPS) sensors, Beidousensors, Galileo sensors, inertial sensors which may be used as part ofor separately from an inertial measurement unit (IMU) (e.g.,accelerometers, gyroscopes, magnetometers), lidar, ultrasonic sensors,acoustic sensors, WiFi sensors. Various examples of sensors may include,but are not limited to, location sensors (e.g., global positioningsystem (GPS) sensors, mobile device transmitters enabling locationtriangulation), vision sensors (e.g., imaging devices capable ofdetecting visible, infrared, or ultraviolet light, such as cameras),proximity or range sensors (e.g., ultrasonic sensors, lidar,time-of-flight or depth cameras), inertial sensors (e.g.,accelerometers, gyroscopes, inertial measurement units (IMUs)), altitudesensors, attitude sensors (e.g., compasses) pressure sensors (e.g.,barometers), audio sensors (e.g., microphones) or field sensors (e.g.,magnetometers, electromagnetic sensors). Any suitable number andcombination of sensors can be used, such as one, two, three, four, five,or more sensors.

Optionally, the data can be received from sensors of different types(e.g., two, three, four, five, or more types). Sensors of differenttypes may measure different types of signals or information (e.g.,position, orientation, velocity, acceleration, proximity, pressure,etc.) and/or utilize different types of measurement techniques to obtaindata. For instance, the sensors may include any suitable combination ofactive sensors (e.g., sensors that generate and measure energy fromtheir own energy source) and passive sensors (e.g., sensors that detectavailable energy). As another example, some sensors may generateabsolute measurement data that is provided in terms of a globalcoordinate system (e.g., position data provided by a GPS sensor,attitude data provided by a compass or magnetometer), while othersensors may generate relative measurement data that is provided in termsof a local coordinate system (e.g., relative angular velocity providedby a gyroscope; relative translational acceleration provided by anaccelerometer; relative attitude information provided by a visionsensor; relative distance information provided by an ultrasonic sensor,lidar, or time-of-flight camera). The sensors onboard or off board theUAV may collect information such as location of the UAV, location ofother objects, orientation of the UAV, or environmental information. Asingle sensor may be able to collect a complete set of information in anenvironment or a group of sensors may work together to collect acomplete set of information in an environment. Sensors may be used formapping of a location, navigation between locations, detection ofobstacles, or detection of a target. Sensors may be used forsurveillance of an environment or a subject of interest. Sensors may beused to recognize a target object. The target object may bedistinguished from other objects in the environment.

The UAV may have one or more propulsion units that may permit the UAV tomove about in the air. The one or more propulsion units may enable theUAV to move about one or more, two or more, three or more, four or more,five or more, six or more degrees of freedom. In some instances, the UAVmay be able to rotate about one, two, three or more axes of rotation.The axes of rotation may be orthogonal to one another. The axes ofrotation may remain orthogonal to one another throughout the course ofthe UAV's flight. The axes of rotation may include a pitch axis, rollaxis, and/or yaw axis. The UAV may be able to move along one or moredimensions. For example, the UAV may be able to move upwards due to thelift generated by one or more rotors. In some instances, the UAV may becapable of moving along a Z axis (which may be up relative to the UAVorientation), an X axis, and/or a Y axis (which may be lateral). The UAVmay be capable of moving along one, two, or three axes that may beorthogonal to one another.

The UAV may be a rotorcraft. In some instances, the UAV may be amulti-rotor craft that may include a plurality of rotors. The pluralityor rotors may be capable of rotating to generate lift for the UAV. Therotors may be propulsion units that may enable the UAV to move aboutfreely through the air. The rotors may rotate at the same rate and/ormay generate the same amount of lift or thrust. The rotors mayoptionally rotate at varying rates, which may generate different amountsof lift or thrust and/or permit the UAV to rotate. In some instances,one, two, three, four, five, six, seven, eight, nine, ten, or morerotors may be provided on a UAV. The rotors may be arranged so thattheir axes of rotation are parallel to one another. In some instances,the rotors may have axes of rotation that are at any angle relative toone another, which may affect the motion of the UAV.

The UAV shown may have a plurality of rotors. The rotors may connect tothe body of the UAV which may comprise a control unit, one or moresensors, processor, and a power source. The sensors may include visionsensors and/or other sensors that may collect information about the UAVenvironment. The information from the sensors may be used to determine alocation of the UAV. The rotors may be connected to the body via one ormore arms or extensions that may branch from a central portion of thebody. For example, one or more arms may extend radially from a centralbody of the UAV, and may have rotors at or near the ends of the arms. Inanother example, the UAV may include one or more arms that may includeone or more additional support members, which may have one, two, threeor more rotors attached thereon. For example, T-bar configurations maybe used to support rotors.

A vertical position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. For example, increasing the speed of rotation of one or morerotors of the UAV may aid in causing the UAV to increase in altitude orincrease in altitude at a faster rate. Increasing the speed of rotationof the one or more rotors may increase the thrust of the rotors.Decreasing the speed of rotation of one or more rotors of the UAV mayaid in causing the UAV to decrease in altitude or decrease in altitudeat a faster rate. Decreasing the speed of rotation of the one or morerotors may decrease the thrust of the one or more rotors. When a UAV istaking off, the output may be provided to the propulsion units may beincreased from its previous landed state. When the UAV is landing, theoutput provided to the propulsion units may be decreased from itsprevious flight state. The UAV may be configured to take off and/or landin a substantially vertical manner.

A lateral position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. The altitude of the UAV and the speed of rotation of one ormore rotors of the UAV may affect the lateral movement of the UAV. Forexample, the UAV may be tilted in a particular direction to move in thatdirection and the speed of the rotors of the UAV may affect the speed ofthe lateral movement and/or trajectory of movement. Lateral positionand/or velocity of the UAV may be controlled by varying or maintainingthe speed of rotation of one or more rotors of the UAV.

The UAV may be of small dimensions. The UAV may be capable of beinglifted and/or carried by a human. The UAV may be capable of beingcarried by a human in one hand.

The UAV may have a greatest dimension (e.g., length, width, height,diagonal, diameter) of no more than 100 cm. In some instances, thegreatest dimension may be less than or equal to 1 mm, 5 mm, 1 cm, 3 cm,5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190cm, 200 cm, 220 cm, 250 cm, or 300 cm. Optionally, the greatestdimension of the UAV may be greater than or equal to any of the valuesdescribed herein. The UAV may have a greatest dimension falling within arange between any two of the values described herein.

The UAV may be lightweight. For example, the UAV may weigh less than orequal to 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5 g, 7g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60 g, 70g, 80 g, 90 g, 100 g, 120 g, 150 g, 200 g, 250 g, 300 g, 350 g, 400 g,450 g, 500 g, 600 g, 700 g, 800 g, 900 g, 1 kg, 1.1 kg, 1.2 kg, 1.3 kg,1.4 kg, 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4 kg, 4.5kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg, 8.5 kg, 9 kg, 9.5kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 kg, 17 kg, or 20 kg. The UAVmay have a weight greater than or equal to any of the values describedherein. The UAV may have a weight falling within a range between any twoof the values described herein.

Other various UAV components are further described elsewhere. Each UAVcomponent may have a corresponding identifier. For example, a UAV maycomprise a UAV identifier (e.g., UAV ID1, UAV ID2, UAV ID3, . . . ) thatidentifies the UAV. The UAV identifier may be unique to the UAV. OtherUAVs may have different identifiers from the UAV. A UAV identifier mayuniquely differentiate and/or distinguish the UAV from other UAVs. EachUAV only be assigned a single UAV identifier. Alternatively, multipleUAV identifiers may be registered for a single UAV. In some instances, asingle UAV identifier may be assigned to only a single UAV.Alternatively, a single UAV identifier may be shared by multiple UAVs.In preferable embodiments a one-to-one correspondence may be providedbetween a UAV and a corresponding UAV identifier.

In some embodiments, a remote controller may have a remote controlleridentifier that identifies the remote controller. The remote controlleridentifier may be unique to the remote controller. Other remotecontrollers may have different identifiers from the remote controller.In some instances, manual controllers and mobile devices may havedifferent identifiers. A remote controller identifier may uniquelydifferentiate and/or distinguish the remote controller from other remotecontrollers. Each remote controller may only be assigned a single remotecontroller identifier. Alternatively, multiple remote controlleridentifiers may be registered for a single remote controller. In someinstances, a single remote controller identifier may be assigned to onlya single remote controller. Alternatively, a single remote controlleridentifier may be shared by multiple remote controllers. In preferableembodiments a one-to-one correspondence may be provided between a remotecontroller and a corresponding remote controller identifier. Remotecontroller identifiers may or may not be associated with a correspondinguser identifier.

While UAV identifiers, remote controller identifiers are primarilydescribed above, it is to be understood that the description withrespect to UAV identifiers and remote controller identifiers may beapplicable to any component referred to herein. Optionally, a componentmay be authenticated as being an authorized for use with othercomponents or with a UAV, e.g. via the component identifier. Anauthentication process may include a verification of the component'sidentity. An authentication process may include matching a registeredinformation regarding the component to a user input. The authenticationprocess may impose a relevant operational parameter on the componentaccording to the user input. Examples of authentication processes aredescribed in greater detail elsewhere herein.

Relationship between UAV Components and Users

In some instances, a relationship between the various components mayexist. For example, payload 117 may be configured to be operable withUAV 101 but not with UAV 103. Alternatively, payload 117 may beconfigured to be operable with both UAVs 101 and 103. As anotherexample, UAV 103 may be configured to be operable with both manualcontrollers 105 and 107. In some instances, a relationship between thecomponents may be verified (e.g. identities matched) before operation ispermitted. The relationship between the different components may beregistered, e.g. on a database as further described herein.

In some instances, a user may be an operator of a specific componentutilized in operation of the UAV. For example, user 101 a may be anoperator of payload 117 but not UAV 101. As another example, user 101 amay be an operator of manual controller 105 that can be utilized tocontrol UAV 101 but may not be an operator of mobile device 109associated with the UAV. In some instances, a component may have aplurality of different operators. For example, UAV 103 may be configuredto be operated by operators 101 a, 103 a, 105 a. Optionally, thecomponent may comprise different operational parameters, or permissionsparameters, for different operators. For instance, a first operator 101a may have no restriction on operation of UAV 103. A second operator 103a may have a temporal restriction (e.g. how long they can fly the UAV)on operation of UAV 103. A third operator 105 a may have an altitude andspeed restriction on operation of UAV 103. The operational parameters ofthe components may be designated by a relevant party or user.

Each user may operate a UAV component. The users may be registered (e.g.pre-registered) with the component so that only an authorized, orregistered user can control a corresponding component. The component maybe registered (e.g. pre-registered) so users can only control theauthorized or registered components. The relationship and/or associationbetween the user and UAV components may be registered (e.g. in adatabase) in some instances. Optionally, the relationship and/orassociation between components and/or user mays be stored in database.The user identifier may be associated with the corresponding componentidentifier. Optionally, operational parameters or permission parametersfor the component specific to the user may be stored in the database.

The identities of the device or parties involved in the operation of theUAV may be authenticated. For example an identity of the user may beauthenticated. The user may be verified as the user associated with theuser identifier. The identity of the component may be authenticated. Thecomponent may be verified as the component associated with the componentidentifier. The component may be verified as a component associated withthe user identifier. The user may be verified as the user associatedwith the component identifier.

Database

As described above, a variety of information regarding UAV componentsand or users, including identity information and/or permissioninformation (e.g. operational parameters) are utilized in the presentdisclosure. In some instances, the aforementioned information may beregistered or recorded. In some instances, the information may be storedin a database. FIG. 2 shows an example of information contained in adatabase regarding a component, in accordance with embodiments. Whilethe component illustrated shows a UAV, it is to be understood that thefigure may be illustrative of information contained in a databaseregarding any other component described herein.

The database may be an online database. In some instances, the databasemay be provided as a cloud based database. Optionally, the database maybe provided through a cloud based server. The database may be providedby a manufacturer of a UAV. Alternatively or in addition, databases maybe provided by a relevant jurisdictional authority, e.g. countries,states, cities, precincts, etc. Optionally, the database may be providedby an involved third party, e.g. service provider. The database may bemanaged by a relevant authority, such as a UAV manufacturer,jurisdictional authority, etc. The database may be accessed via browserthat may permit a user to access the database, or relevant components ofthe database. In some instances, the database may be accessed viaapplication that may permit a user to access the database, or relevantparts of the database. In some instances, a platform may be provided foraccessing or managing information contained within the database.

The database may maintain identity information for users and UAVcomponents. In some instances, the database may assign an identifier toeach user, also referred to as a user ID. The database may assign anidentity to each UAV component, also referred to as a component ID, orUAV component ID. Each identifier may or may not be unique. Theidentifiers may optionally be a randomly generated alphanumeric string.The identifier may be generated in some instances via any other processthat may identify a user from other users, or a component from othercomponents. The identifier may be generated by the database or may beselected from a list of possible identifiers that remain unassigned. Theidentifiers may be used to authenticate the user, or components. Theidentifiers may be used to verify a relationship between UAV componentsand/or users. The database may or may not interact with one or moreusers, or one or more components.

The database may comprise information regarding the component 201. Forexample, the database may comprise information regarding the component'sID 203. In some instances, the component ID may be pre-existing withinthe database. Optionally, the component ID may be registered in thedatabase. The database may comprise information regarding users. In someinstances, the database may comprise information regarding relevantusers of the component. For example, the database may compriseinformation regarding user IDs of the users. The database may compriseinformation regarding users and their authority levels. For example, thedatabase may comprise information regarding the users and theircorresponding authority levels. While users are designated into threedifferent authority levels (e.g. owner, manager, and operator) in FIG.2, it is to be understood that any number of different authority levelsmay be provided.

Optionally, the database may comprise information regarding permissionlevels. In some instances, the database may comprise operationalparameters for the component, for a user. The designated operationalparameter may restrict use of the component. The designated operationalparameter may restrict use of the component's full capabilities. In someinstances, the operational parameter may be binary. For example, theoperational parameter for a given component may be “operable” or“inoperable.” Accordingly, a component may be configured to be operableby a user or inoperable by the user. Alternatively, the designatedoperational parameter may comprise a plurality, or even infinite numberof possible states. For example, for a UAV, the operational parametermay comprise any restriction or flight regulation that may be imposed onthe UAV which are substantially described elsewhere.

For example, an operational parameter for “Wife—User ID4” may be to flyat an altitude below the altitude the UAV is capable of flying at. Asanother example, an operational parameter for “Son—User ID5” may be toonly operate the UAV for a certain amount of time within a given timeperiod. In some instances, the amount of time may be less than or equalto about 5 minutes, 10 minutes, 20 minutes, 30 minutes, 45 minutes, 1hour, 2 hours, 3 hours, 6 hours, 12 hours, 1 day, 1 week, 2 weeks, or 1month. In some instances, the given time period may be less than orequal to about 30 minutes, 1 hour, 2 hours, 3 hours, 6 hours, 12 hours,1 day, 1 week, 2 weeks, 1 month, 3 months, 6 months, or 1 year. Multipleoperational parameters may be associated with a given component, for agiven user. For example, “John Smith—User IDU” may comprise operationalparameters that require the UAV to fly below certain speeds below itscapabilities and which requires the UAV to be flown within certaindesignated areas.

FIG. 3 shows an example of other information contained in a databaseregarding a component, in accordance with embodiments. The informationmay be contained alternatively, or in addition to information describedwith respect to FIG. 2. Accordingly, while the component illustratedshows a UAV, it is to be understood that the figure may be illustrativeof information contained in the database regarding any other componentpreviously described herein. Additionally, it is to be understood thatFIGS. 2 and 3 lists exemplary information that may be contained within adatabase and that the actual data may be organized in any format.

The database may comprise information regarding the component (e.g. UAVname, UAV ID, etc). In some instances, the database may compriseinformation regarding other components associated with the givencomponent. The association may be any type of association. In someinstances, the association may designate or imply that the othercomponents may be configured to be utilized with the given component. Insome instances, the association may designate or imply that the othercomponents may be configured to transfer data or conduct signals (e.g.electronic signals) with the given component. For example, for UAV 301,the database may comprise information regarding sensors, payloads,flight controllers, manual controllers, mobile devices, batteries, orother components that may be utilized in association with the UAV.Optionally, the database may comprise information regarding a type ofrelationship between the given component (e.g. UAV) and the othercomponent. For example, the type of relationship may indicate whetherthe other component must be utilized with the UAV (e.g. to allowoperation). For example, it may be mandatory to utilize the UAV with the“Battery 1—component ID 10” and otherwise, flight of the UAV may begrounded. As another example, the type of relationship may indicatewhether the other component may be utilized with the UAV. For example,“Payload 1—component ID3” and “Payload 2—component ID4” may be utilizedby the UAV but other payloads may not be allowed to operate togetherwith the UAV. It is to be understood that the types of relationshipsdescribed are for illustration purposes only and various other types ofrelationships may be envisioned.

The aforementioned information may be pre-registered. In some instances,the information may be registered by a user. In some instances, aplatform may be provided for registering and/or managing information ofthe database. The platform may provide a convenient avenue by whichusers (e.g. owners, managers, etc) can manage information, associateusers and/or components and designate relevant operational parameters.As previously described herein, users may comprise, or may be of variousauthority levels. In some instances, higher authority level users (e.g.owner) may be able to designate or confirm an operational parameter fora component for a given manager or operator. In some instances, theowner may be able to delegate or confirm managerial authority. Forexample, the owner may appoint one or more managers who can manageinformation, associate users and/or components and designate relevantoperational parameters. In some instances, the owner may delegateabsolute authority. Alternatively, the owner may limit designation ofauthority as desired. As one example, the owner may designate authoritysuch that a manager may not register new operators but may manageoperational parameters for existing operators. Owners and/or managers(e.g. depending on delegated authority) may also register or define arelationship between various components utilized in operation of a UAV.

Authentication System

Information in the database may be utilized in an authentication systemor process. The authentication system may be provided alternatively, orin addition to various other authentication systems known in the art.The authentication system may ensure authenticity of UAV componentsand/or users associated with operation of a UAV. FIG. 4 illustrates anexemplary authentication system, in accordance with embodiments. Theauthentication system may be a UAV safety system or may operate as partof a UAV safety system. The authentication system may provide improvedUAV safety. The authentication system may authenticate a user, a UAV, aremote controller, and/or other components utilized in operation of theUAV. The authentication system may be utilized in some instances toimpose appropriate operational parameters for the components.

The authentication system may include a database 401, substantially asdescribed above. The database may in communication with components 403.In some instances, the database may be in communication with eachcomponent utilized in operation of a UAV 405. Alternatively, thedatabase may be in communication with a subset of the components. Forexample, the database may be in communication with the mobile device407, but may not be in communication with the UAV, manual controller,and/or other components. Optionally, the database may be incommunication with the mobile device and may be in indirectcommunication with the UAV, manual controller, and/or other components.In some instances, the database may passively be in communication withthe components 403. For example, the database may be in communicationwith the components in real time, or may be configured to transmitand/or receive data at predetermined intervals. Alternatively, thedatabase may be configured to be in communication with the components inresponse to a stimulus. For example, the database may be configured totransmit data to one or more components in response to receiving data,e.g. from the components or from elsewhere.

The authentication system may provide authentication of an identity of auser or components involved in operation of a UAV. The authenticationsystem may obtain information about the user and/or the components fromthe database 401. Further details about the authentication process areprovided elsewhere herein.

Input Module

The authentication system may comprise a user input module. In someinstances, the user input module may be provided as a separate orstand-alone device, and may be a component utilized in operation of aUAV. Alternatively, the user input module may be provided as a part of,or may be integrated with, any of the other components 403. The userinput module may be configured to receive an input 409 from a user 411.The user may be an individual associated with the components 403 and/orUAV 405, such as a person operating the UAV. Examples of users aredescribed elsewhere herein. Controlling operation of the UAV may includecontrolling flight of the UAV, or any other portions of the UAV asdescribed elsewhere herein.

The input module may be used to receive information from the user. Insome instances, the information may be known only by the user and notwidely known by other users. For example, the information may be ausername and a corresponding password. An input may be a password,passphrase, typing or swiping movement, signature, or any other type ofinformation by the user. The user input may be received by the userresponding to one or more query by the system correctly. In someembodiments, a user may apply for a login name and/or password to usefor the authentication system. The user may be able to login in withsaid login name and password.

Optionally, the information may comprise a physical characteristic ofthe user. Biological information about the UAV may be received by theinput module. For example, the input module may be configured to receivebiometric information. For instance, the user may provide a fingerprintscan, a palm print scan, an iris scan, a retinal scan, or a scan of anyother portion of the user's body to the user input module. The user mayprovide a physical sample, such as saliva, blood, fingernail clippings,or hair clippings that may be analyzed by the user input module. In someinstances, DNA analysis of a sample from a user may occur. The userinput module may in some instances be configured receive informationthat can provide facial recognition or gait recognition. The user mayprovide a voiceprint. A user may submit the user's height and/or weightfor analysis.

In some instances, the user input module may be configured to receiveinformation on a device or item that may be in the possession of a user.For example, the user input module may receive a card such as a creditcard that may be in possession of the user. In some instances, the userinput module may be configured to receive other types of identity cards.For example, social security cards, Medicare cards, driver's licenses,bank cards and other types of devices or items that provide an identityof the user may be provided. As another example, the user input modulemay receive a memory unit and/or information on the memory unit that maybe in the possession of the user. For example, a user may have a memorydevice issued in relation to the authentication system, e.g. by arelevant manufacture, jurisdictional authority, or any other source. Amemory device may be an external memory device such as a U disk (e.g.,USB drive), external hard drive, or any other type of memory device. Insome embodiments, the external device may be coupled to a user remotecontroller. For example, the external device, such as a U disk may bephysically connected to the remote controller (e.g., inserted/pluggedinto the remote controller), or may be in communication with the remotecontroller (e.g., transmitting a signal that may be picked up by theremote controller). The device may be a physical memory storage device.

Matching Module

The authentication system may include a matching module. In someinstances, the matching module may be provided as a separate orstand-alone device, and may be a component utilized in operation of aUAV. Alternatively, the matching module may be provided as a part of, ormay be integrated with, any of the other components 403. Optionally, amatching module may be provided on each of the components. In oneexample, a matching module may be provided on the mobile device 407. Thematching module may interact with the database. The matching module mayobtain information, about the user and/or the components from thedatabase. The information may include any of the informationsubstantially discussed above. The matching module may interact with theuser input module. The matching module may obtain information, about theuser from the user input module. The information may include any of theinformation substantially discussed above. The matching module may beconfigured to process information received from the user input moduleand/or the information received from the database. In some instances,the matching module may be configured to match information received fromthe user input module and the database. For example, the matching modulemay be configured to verify consistency of information between theinformation received from the user input module and the informationreceived from the database. In some instances, the matching module maybe configured to determine relevant parameters (e.g. operationalparameters or permission parameters) for UAV components and/or usersbased on a matching process. For example, utilizing information receivedfrom a user input module, the matching module may search for acorresponding user and associated permission parameters for the user.Based on a matching process (e.g. at the matching module), the userand/or components may get authenticated and appropriate operationalparameter(s) may be imposed on the components.

In one example, a user may provide an input at the user input module.Based on the received input, data may be transmitted to the database401, e.g. utilizing individually or collectively the components 403. Thedata may comprise information regarding the user and/or the components.In response to receiving the data, the database may further transmitrelevant data, individually or collectively, to the components. Therelevant data may comprise information regarding the user 409,components 403, relationship between the components, and/or associatedpermission parameters. In some instances, the relevant data may compriseup-to date information. Optionally, the relevant data may compriseregistered or verified information. Information received from the userand information received from the database may be compared, verified,authenticated, or matched. In some instances, appropriate operationalparameters may be imposed based on the matching process. FIGS. 19, 20,and 21 illustrate other exemplary authentication systems in detail andrelated uses, in accordance with embodiments.

For example, FIG. 19 illustrates an identity entry and matching processof a UAV system in detail. The mobile device, or visualized groundstation 1910, may comprise a user login, information entry, andauthorization module 1913, an identity matching interactive module 1915,and data interface 1917. A user may also enter or input information to adatabase, such as an identity registration, authorization and managementsystem of a UAV manufacturer 1920. A user may also input information tothe user login, information entry, and authorization module 1913. Insome instances, the input received at the module 1913 may communicatewith the database 1920 for authorization of the identity information.Based on successful network matching, information may be received fromthe database 1920 to the module 1915. The identity information receivedfrom the user at the module 1913 may also further be transmitted to thematching module 1915 for identity matching. The matching may besuccessful or unsuccessful, and the data related to the successful orfailed matching may further be transmitted to the database 1920. Datarelated to successful matching may be transmitted to the data interface1917 and further be transmitted to a data interface at another componentutilized in operation of the UAV. For example, the data related to thesuccessful matching may be transmitted to a data interface 1933 of amanual control device 1930. In some instances, the data related to thesuccessful matching may further be transmitted to an identity module ofthe manual control device, such as a ground control device identityinformation module 1935. Optionally, based on the data related to thematching, relevant information, such as an identity information of themanual control device may be transmitted to the data interface, whichmay further be transmitted to the module 1915 of the visualized groundstation for identity matching between various UAV components.Alternatively or in addition, identity matching between various UAVcomponents may happen independently, e.g. without association toinformation received from the database and/or user. The UAV or flightplatform 1940 may comprise various modules, e.g. identity modules suchas UAV identity information storage module 1943, sensor modules such asabsolute position module 1945, identity matching module, or UAV identityinformation management module 1947, and wireless link module 1949. Some,or each of the modules of the UAV may be configured to undergo identitymatching, e.g. for flight of the UAV. For example, identity informationof the UAV identity module 1943 and/or sensor module 1945 may bereceived at the identity management module 1947 for identity matching.In some instances, the wireless link module 1949 may be used to receiveand/or transmit information or data with other various UAV components,e.g. to provide or receive identity information, data related tomatching of user, etc.

FIG. 20 illustrates various methods for implementing identityinformation entry and matching. The methods may be utilized as part ofan identity entry and matching process of a UAV system described in FIG.19. It is to be understood that each of the methods described below maybe utilized individually, or in conjunction with each other or with anyother method described throughout.

In method 2003, an authenticity of an identity of the owners, theoperators of the UAV and UAV system or components may be authenticatedby a platform or database provided by a relevant jurisdictionalauthority. In some instances, the platform may be a country or regionUAV system identity authentication and management system 2004. Accordingto practical requirements of each country or region, mandatorily oruser-selectively, the matching or setting information of relevantoperators and UAV system or components may be uploaded to the country orregion UAV system identity authentication and management system.

In method 2005, the identity authenticity of the owners, operators ofthe UAV and UAV system or components may be authenticated through aplatform or database provided by a UAV system manufacturer. In someinstances, the platform may be a UAV system manufacturer identityregistration, authentication and management system 2006. According topractical requirements of each country or region, mandatorily oruser-selectively, the information such as the matching or settinginformation of the operators and the UAV system or components, the usageinformation of the operators, flight permission information andconstraints may be uploaded to the UAV system manufacturer identityregistration, authentication and management system or other UAV systemor component management platforms.

In method 2007, the UAV system manufacturer identity registration,authentication and management system may be utilized in conjunction witha country/region UAV system identity authentication and managementsystems described in method 2003.

In method 2009, a successfully-set relevant identity information of theoperators and UAV system or components information may be stored in anidentity information caching module 2010 in a mobile device, such as avisualized ground station. A cached identity information andauthentication information in the identity information storage module inthe ground station may be used for authentication of all relevantidentity and operation permissions each time the flight operator logs infor operation.

In method 2011, identity information storage module may be added in theground station and store relevant identity information and permissionsfor successful registration and/or authentication and settings. Therelevant identities and permissions may be authenticated by using theidentity information and the operation permissions stored in theidentity information storage module in the ground station each time thelogging in by the user occurs.

FIG. 21 illustrates real-time flight supervision and management methodsfor a UAV system. For example, an owner may use a flight supervision andmanagement module 2101 to view or manage the users (e.g. operators),designated management personnel, UAV components, etc. Optionally, anowner may utilize a user login, information entry and authorizationmodule to access the flight supervision and management module.

In some instances, owners and/or designated management personnel maymanage a setting and instruction for the users via a flight supervisionand management module of a UAV system 2103. Optionally, designatedmanagement personnel may utilize a user login, information entry andauthorization module to access the flight supervision and managementmodule of the UAV system. The users or operators may be permitted tooperate UAV components based on designated parameters or as permitted bythe owners or designated management personnel, and may be furthersupervised by them. The relevant parameters, instructions, orsupervision may in some instances additionally be stored in relevantmodules of the various UAV components.

In some instances, the management setting and instructions may betransmitted to a visual ground station 2104 utilized by an operator of aUAV. For example, the management setting and instruction may betransmitted to a use or flight supervision and management module 2105 ofthe visualized ground station. The operator may input relevantinformation at a user login, information entry, and authorizationmodule, which may be utilized to verify or confirm the use or flightsettings for the user. The flight settings, or supervision data of theoperator may further be transmitted to the flight supervision andmanagement module of the UAV system.

In some instances, data or information of the visualized ground stationmay further be transmitted to other UAV components such as a manualcontrol device 2106, e.g. utilizing data interfaces. For example,management setting and instructions from the visualized ground stationmay be transmitted to the manual control device which may be stored in amanagement module for flight supervision data 2107. A storage module mayfurther store flight supervision data which may be transmitted to thevisualized ground station and further uploaded to the flight supervisionand management module 2103. In some instances, data or information ofthe manual control device may further be transmitted to other UAVcomponents such as a UAV or flight platform 2108, e.g. utilizing datainterfaces or wireless link modules. For example, management setting andinstructions from the manual control device may be transmitted to theUAV and be stored in a management module for flight supervision data2109. The settings may be utilized to impose operational parameters orrestrictions which the flight control of the UAV takes into account.Flight data of the UAV may also be stored in a storage module for flightsupervision data and compared with information in the management module.

Flight Regulation Module

The authentication system may further include, or operate in concertwith, a flight regulation module/subsystem. The flight regulation modulemay be configured to generate and store one or more sets of flightregulations. Flight regulation as described herein may refer toimposition of operational parameters on any of components. Generation ofthe flight regulations may include the creation of flight regulationsfrom scratch, or may include selecting one or more sets of flightregulations from a plurality of sets of flight regulations. Thegeneration of flight regulations may include combining selected sets offlight regulations.

A UAV may operate in accordance with one or more sets of imposed flightregulations. The flight regulations may regulate any aspect of operationof the UAV (e.g., flight, sensors, communications, payload, navigation,power usage, items carried, remote controller usage, data storage, etc)and are substantially described further below. For instance, the flightregulations may dictate where the UAV may or may not fly. The flightregulations may dictate when the UAVs may or may not fly in particularregions. The flight regulations may dictate when data may be collected,transmitted and/or recorded by one or more sensors on-board the UAV. Theflight regulations may dictate when a payload may be operational. Forexample, a payload may be an image capturing device, and the flightregulations may dictate when and when the image capturing device may becapturing images, transmitting the images, and/or storing the images.The flight regulations may dictate how communications may occur (e.g.,channels or methods that may be used) or what types of communicationsmay occur.

The flight regulation module may include one or more databases storinginformation pertaining to the flight regulations. For example the one ormore databases may store one or more locations where flight of a UAV isrestricted. The flight regulation module may store sets of flightregulations, and the sets of flight regulations may be associated withparticular UAVs. The flight regulation module may store sets of flightregulations, and the sets of flight regulations may be associated withparticular users. The flight regulation module may store sets of flightregulations, and the sets of flight regulations may be associated withparticular components. The flight regulation module may store sets offlight regulations, and the sets of flight regulations may be associatedwith particular users and components.

The flight regulation module may approve or reject one or more flightplans of a UAV. In some instances, a flight plan including a proposedflight path for a UAV may be designated. The flight path may be providedin relation to the UAV and/or the environment. The flight path may beentirely defined (all points along the path are defined), semi-defined(e.g., may include one or more waypoints but the paths to get to thewaypoints may be variable), or not very defined (e.g., may include anend destination or other parameter, but the path to get there may not bedefined). The flight regulation module may receive the flight plans andmay approve or reject the flight plans. The flight regulation module mayreject the flight plans if they are in contradiction to a set of flightregulations for the UAV. The flight regulation module may suggestmodifications to the flight plans that may put them in compliance withthe set of flight regulations. The flight regulation module may generateor suggest a set of flight plans for the UAV that may comply with theset of flight regulations. A user may enter one or more parameters orgoals for a UAV mission, and the flight regulation modules may generateor suggest a set of flight plans that may meet the one or moreparameters while complying with the set of flight regulations. Examplesof parameters or goals for a UAV mission may include a destination, oneor more waypoints, timing requirements (e.g., overall time limit, timeto be at certain locations), maximum speeds, maximum accelerations, typeof data to be collected, type of image to be captured, any otherparameter or goal.

In some instances, the flight regulation module may be configured toprovide a warning if operation of UAV component(s) is not in accordancewith flight regulations. The alert, or warning may be provided in anymanner. The alert may be provided visually, audibly, and/or tactilely.For example, the alert may be provided on a display screen of a userremote controller. For example, text or images may be providedindicative of the unauthorized communication. Text or images may beprovided indicative that an interference with user commands occurred. Inanother example, the alert may be provided audibly via a user remotecontroller. The user remote controller may have a speaker that mayproduce sound. The alert may be provided tactilely via the remotecontroller. The user remote controller may vibrate or pulse.Alternatively, the user remote controller may jerk, turn warmer orcolder, deliver a mild electric shock or provide any other tactileindication. An alert may be provided to a user of the UAV. The alert maybe provided via a user terminal, such as a remote controller. A user maybe presented with an opportunity to change the UAV behavior to cause theUAV to comply with the flight regulations. For example, if the UAV isapproaching restricted airspace, the user may have some time to alterthe path of the UAV to avoid the restricted airspace. Alternatively, theuser may not be presented with an opportunity to change the UAVbehavior.

Authentication Implementation

The authentication system may be implemented using any hardwareconfiguration or set up known or later developed in the art. Forinstance, the database may be operated using one or more servers. Anydescription of servers may apply to any other type of device. The devicemay be a computer (e.g., personal computer, laptop computer, server),mobile device (e.g., smartphone, cellular phone, tablet, personaldigital assistant), or any other type of device. The device may be anetwork device capable of communicating over a network. The devicecomprise one or more memory storage units which may includenon-transitory computer readable medium which may store code, logic orinstructions for performing one or more steps described elsewhereherein. The device may include one or more processors that mayindividually or collectively execute one or more steps in accordancewith the code, logic, or instructions of the non-transitory computerreadable medium as described herein.

The various parts, such as the database, the matching module, user inputmodule, components, etc may be implemented on hardware at the samelocation or may be implemented at different locations. Theauthentication system components may be implemented using the samedevice or multiple devices. In some instances, a cloud-computinginfrastructure may be implemented in providing the authenticationsystem. Optionally, peer-to-peer (P2P) relationships may be utilized bythe authentication system.

The parts may be provided off-board the UAV, on-board the UAV, or somecombination thereof. The parts may be provided off-board a UAVcomponent, on-board a UAV component, or some combination thereof. Insome preferable embodiments, parts may be provided off-board the UAVcomponents, and may communicate with the UAV components. The UAVcomponents may communicate directly or indirectly with the UAV. In someinstances, the communications may be relayed via another device. Theother device may be a remote controller, or another UAV.

Flight Regulations

Activity of a UAV may be governed in accordance with a set of flightregulations. A set of flight regulations may include one or more flightregulations. Various types and examples of flight regulations aredescribed herein.

Flight regulations may govern physical disposition of the UAV. Forinstance, the flight regulation may govern flight of the UAV, take-offof the UAV, and/or landing of the UAV. The flight regulation mayindicate areas of the surface over which the UAV may or may not fly, orvolumes in space where the UAV may or may not fly. The flightregulations may relate to position of the UAV (e.g., where the UAV islocated in space or over the underlying surface) and/or orientation ofthe UAV. In some examples, the flight regulations may prevent the UAVfrom flying within an allocated volume (e.g., airspace) and/or over anallocated region (e.g., underlying ground or water). The flightregulations may comprise one or boundaries within which the UAV is notpermitted to fly. In other examples, the flight regulations may onlypermit the UAV the fly within an allocated volume and/or over anallocated region. The flight regulations may comprise one or moreboundaries within which the UAV is permitted to fly. Optionally, theflight regulations may prevent the UAV from flying above an altitudeceiling that may be fixed or variable. In another instance, the flightregulations may prevent the UAV from flying beneath an altitude floorthat may be fixed or variable. The UAV may be required to fly at analtitude between the altitude floor and the altitude ceiling. In anotherexample, the UAV may not be able to fly within one or more ranges ofaltitude. For instance, the flight regulations may permit only a certainrange of orientations of the UAV, or may not permit certain range oforientations of the UAV. The range of orientations of the UAV may bewith respect to one, two, or three axes. The axes may be orthogonalaxes, such as yaw, pitch, or roll axes.

The flight regulations may govern a flight time of the UAV. Forinstance, the flight regulations may govern how long the UAV may beflown. The flight regulation may govern an amount of time the UAV may beflown within a given time period. In some instances, the amount of timemay be less than or equal to about 5 minutes, 10 minutes, 20 minutes, 30minutes, 45 minutes, 1 hour, 2 hours, 3 hours, 6 hours, 12 hours, 1 day,1 week, 2 weeks, or 1 month. In some instances, the given time periodmay be less than or equal to about 30 minutes, 1 hour, 2 hours, 3 hours,6 hours, 12 hours, 1 day, 1 week, 2 weeks, 1 month, 3 months, 6 months,or 1 year.

The flight regulations may govern movement of the UAV. For instance, theflight regulations may govern translational speed of the UAV,translational acceleration of the UAV, angular speed of the UAV (e.g.,about one, two, or three axes), or angular acceleration of the UAV(e.g., about one, two, or three axes). The flight regulations may set amaximum limit for the UAV translational speed, UAV translationalacceleration, UAV angular speed, or UAV angular acceleration. Thus, theset of flight regulations may comprise limiting flight speed and/orflight acceleration of the UAV. The flight regulations may set a minimumthreshold for UAV translational speed, UAV translational acceleration,UAV angular speed, or UAV angular acceleration. The flight regulationsmay require that the UAV move between the minimum threshold and themaximum limit. Alternatively, the flight regulations may prevent the UAVfrom moving within one or more translational speed ranges, translationalacceleration ranges, angular speed ranges, or angular accelerationranges. In one example, a UAV may not be permitted to hover within adesignated airspace. The UAV may be required to fly above a minimumtranslational speed of 0 mph. In another example, a UAV may not bepermitted to fly too quickly (e.g., fly beneath a maximum speed limit of40 mph). The movement of the UAV may be governed with respect to anallocated volume and/or over an allocated region.

The flight regulations may govern take-off and/or landing procedures forthe UAV. For instance, the UAV may be permitted to fly, but not land inan allocated region. In another example, a UAV may only be able totake-off in a certain manner or at a certain speed from an allocatedregion. In another example, manual take-off or landing may not bepermitted, and an autonomous landing or take-off process must be usedwithin an allocated region. The flight regulations may govern whethertake-off is allowed, whether landing is allowed, any rules that thetake-off or landing must comply with (e.g., speed, acceleration,direction, orientation, flight modes). In some embodiments, onlyautomated sequences for taking off and/or landing are permitted withoutpermitting manual landing or take-off, or vice versa. The take-offand/or landing procedures of the UAV may be governed with respect to anallocated volume and/or over an allocated region.

In some instances, the flight regulations may govern operation of apayload of a UAV. The payload of the UAV may be a sensor, emitter, orany other object that may be carried by the UAV. The payload may bepowered on or off. The payload may be rendered operational (e.g.,powered on) or inoperational (e.g., powered off). Flight regulations maycomprise conditions under which the UAV is not permitted to operate apayload. For example, in an allocated airspace, the flight regulationsmay require that the payload be powered off. The payload may emit asignal and the flight regulations may govern the nature of the signal, amagnitude of the signal, a range of the signal, a direction of signal,or any mode of operation. For example, if the payload is a light source,the flight regulations may require that the light not be brighter than athreshold intensity within an allocated airspace. In another example, ifthe payload is a speaker for projecting sound, the flight regulationsmay require that the speaker not transmit any noise outside an allocatedairspace. The payload may be a sensor that collects information, and theflight regulations may govern a mode in which the information iscollected, a mode about how information is pre-processed or processed, aresolution at which the information is collected, a frequency orsampling rate at which the information is collected, a range from whichthe information is collected, or a direction from which the informationis collected. For example, the payload may be an image capturing device.The image capturing device may be capable of capturing static images(e.g., still images) or dynamic images (e.g., video). The flightregulations may govern a zoom of the image capturing device, aresolution of images captured by the image capturing device, a samplingrate of the image capturing device, a shutter speed of the imagecapturing device, an aperture of the image capturing device, whether aflash is used, a mode (e.g., lighting mode, color mode, still vs. videomode) of the image capturing device, or a focus of the image capturingdevice. In one example, a camera may not be permitted to capture imagesin over an allocated region. In another example, a camera may bepermitted to capture images, but not capture sound over an allocatedregion. In another example, a camera may only be permitted to capturehigh-resolution photos within an allocated region and only be permittedto take low-resolution photos outside the allocated region. In anotherexample, the payload may be an audio capturing device. The flightregulations may govern whether the audio capture device is permitted tobe powered on, sensitivity of the audio capture device, decibel rangesthe audio capture device is able to pick up, directionality of the audiocapture device (e.g., for a parabolic microphone), or any other qualityof the audio capture device. In one example, the audio capture devicemay or may not be permitted to capture sound within an allocated region.In another example, the audio capture device may only be permitted tocapture sounds within a particular frequency range while within anallocated region. The operation of the payload may be governed withrespect to an allocated volume and/or over an allocated region.

The flight regulations may govern whether a payload can transmit orstore information. For instance, if the payload is an image capturingdevice, the flight regulations may govern whether images (still ordynamic) may be recorded. The flight regulations may govern whether theimages can be recorded into an on-board memory of the image capturedevice or a memory on-board the UAV. For instance, an image capturingdevice may be permitted to be powered on and showing captured images ona local display, but may not be permitted to record any of the images.The flight regulations may govern whether images can be streamedoff-board the image capture device or off-board the UAV. For instance,flight regulations may dictate that an image capture device on-board theUAV may be permitted to stream video down to a terminal off-board theUAV while the UAV is within an allocated airspace, and may not be ableto stream video down when outside the allocated airspace. Similarly, ifthe payload is an audio capture device, the flight regulations maygovern whether sounds may be recorded into an on-board memory of theaudio capture device or a memory on-board the UAV. For instance, theaudio capture device may be permitted to be powered on and play backcaptured sound on a local speaker, but may not be permitted to recordany of the sounds. The flight regulations may govern whether the imagescan be streamed off-board the audio capture device, or any otherpayload. The storage and/or transmission of collected data may begoverned with respect to an allocated volume and/or over an allocatedregion.

In some instances, the payload may be an item carried by the UAV, andthe flight regulations may dictate the characteristics of the payload.Examples of characteristics of the payload may include dimensions of thepayload (e.g., height, width, length, diameter, diagonal), weight of thepayload, stability of the payload, materials of the payload, fragilityof the payload, or type of payload. For instance, the flight regulationsmay dictate that the UAV may carry the package of no more than 3 lbswhile flying over an allocated region. In another example, the flightregulations may permit the UAV to carry a package having a dimensiongreater than 1 foot only within an allocated volume. Another flightregulation may permit a UAV to only fly for 5 minutes when carrying apackage of 1 lb or greater within an allocated volume, and may cause theUAV to automatically land if the UAV has not left the allocated volumewithin the 5 minutes. Restrictions may be provided on the type ofpayloads themselves. For example, unstable or potentially explosivepayloads may not be carried by the UAV. Flight restrictions may preventthe carrying of fragile objects by the UAV. The characteristics of thepayload may be regulated with respect to an allocated volume and/or overan allocated region.

Flight regulations may also dictate activities that may be performedwith respect to the item carried by the UAV. For instance, flightregulations may dictate whether an item may be dropped off within anallocated region. Similarly flight regulations may dictate whether anitem may be picked up from an allocated region. A UAV may have a roboticarm or other mechanical structure that may aid in dropping off orpicking up an item. The UAV may have a carrying compartment that maypermit the UAV to carry the item. Activities relating to the payload maybe regulated with respect to an allocated volume and/or allocatedregion.

Positioning of a payload relative to the UAV may be governed by flightregulations. The position of a payload relative to the UAV may beadjustable. Translational position of the payload relative to the UAVand/or orientation of the payload relative to the UAV may be adjustable.Translational position may be adjustable with respect to one, two, orthree orthogonal axes. Orientation of the payload may be adjustable withrespect to one, two, or three orthogonal axes (e.g., pitch axis, yawaxis, or roll axis). In some embodiments, the payload may be connectedto the UAV with a carrier that may control positioning of the payloadrelative to the UAV. The carrier may support the weight of the payloadon the UAV. The carrier may optionally be a gimbaled platform that maypermit rotation of the payload with respect to one, two, or three axesrelative to the UAV. One or more frame components and one or moreactuators may be provided that may effect adjustment of the positioningof the payload. The flight regulations may control the carrier or anyother mechanism that adjusts the position of the payload relative to theUAV. In one example, flight regulations may not permit a payload to beoriented facing downward while flying over an allocated region. Forinstance, the region may have sensitive data that it may not bedesirable for the payload to capture. In another example, the flightregulations may cause the payload to move translationally downwardrelative to the UAV while within an allocated airspace, which may permita wider field of view, such as panoramic image capture. The positioningof the payload may be governed with respect to an allocated volumeand/or over an allocated region.

The flight regulations may govern the operation of one or more sensorsof an unmanned aerial vehicle. For instance, the flight regulations maygovern whether the sensors are turned on or off (or which sensors areturned on or off), a mode in which information is collected, a modeabout how information is pre-processed or processed, a resolution atwhich the information is collected, a frequency or sampling rate atwhich the information is collected, a range from which the informationis collected, or a direction from which the information is collected.The flight regulations may govern whether the sensors can store ortransmit information. In one example, a GPS sensor may be turned offwhile a UAV is within an allocated volume while vision sensors orinertial sensors are turned on for navigation purposes. In anotherexample, audio sensors of the UAV may be turned off while flying over anallocated region. The operation of the one or more sensors may begoverned with respect to an allocated volume and/or over an allocatedregion.

Communications of the UAV may be controlled in accordance with one ormore flight regulations. For instance, the UAV may be capable of remotecommunication with one or more remote devices. Examples of remotedevices may include a remote controller that may control operation ofthe UAV, payload, carrier, sensors, or any other component of the UAV, adisplay terminal that may show information received by the UAV, adatabase that may collect information from the UAV, or any otherexternal device. The remote communications may be wirelesscommunications. The communications may be direct communications betweenthe UAV and the remote device. Examples of direct communications mayinclude WiFi, WiMax, radiofrequency, infrared, visual, or other types ofdirect communications. The communications may be indirect communicationsbetween the UAV and the remote device which may include one or moreintermediary device or network. Examples of indirect communications mayinclude 3G, 4G, LTE, satellite, or other types of communications. Theflight regulations may dictate whether remote communications are turnedon or off. Flight regulations may comprise conditions under which theUAV is not permitted to communicate under one or more wirelessconditions. For example, communications may not be permitted while theUAV is within an allocated airspace volume. The flight regulations maydictate a communication mode that may or may not be permitted. Forinstance, the flight regulations may dictate whether a directcommunication mode is permitted, whether an indirect communication modeis permitted, or whether a preference is established between the directcommunication mode and the indirect communication mode. In one example,only direct communications are permitted within an allocated volume. Inanother example, over an allocated region, a preference for directcommunications may be established as long as it is available, otherwiseindirect communications may be used, while outside the allocated region,no communications are permitted. The flight regulations may dictatecharacteristics of the communications, such as bandwidth used,frequencies used, protocols used, encryptions used, devices that aid inthe communication that may be used. For example, the flight regulationsmay only permit existing networks to be utilized for communications whenthe UAV is within a predetermined volume. The flight regulations maygovern communications of the UAV with respect to an allocated volumeand/or over an allocated region.

Other functions of the UAV, such as navigation, power usage andmonitoring, may be governed in accordance with flight regulations.Examples of power usage and monitoring may include the amount of flighttime remaining based on the battery and power usage information, thestate of charge of the battery, or the remaining amount of estimateddistance based on the battery and power usage information. For instance,the flight regulations may require that a UAV in operation within anallocated volume have a remaining battery life of at least 3 hours. Inanother example, the flight regulations may require that the UAV be atleast at a 50% state of charge when outside an allocated region. Suchadditional functions may be governed by flight regulations with respectto an allocated volume and/or over an allocated region.

The allocated volume and/or allocated region may be static for a set offlight regulations. For instance, boundaries for the allocated volumeand/or allocated region may remain the same over time for the set offlight regulations. Alternatively, the boundaries may change over time.For instance, an allocated region may be a school, and the boundariesfor the allocated region may encompass the school during school hours.After school hours, the boundaries may shrink or the allocated regionmay be removed. An allocated region at a nearby park where childrenparticipate in after-school activities may be created during the hoursafter school. The rules with respect to the allocated volume and/orallocated region may remain the same over time, or may change over timefor the set of flight regulations. Changes may be dictated by time ofday, day of the week, week of the month, month, quarter, season, year,or any other time-related factor. Information from a clock which mayprovide time of day, date, or other time-related information may be usedin effecting the changes in the boundaries or the rules. A set of flightregulations may have dynamic components in response to other factors, inaddition to time. Examples of other factors may include climate,temperature, detected light level, detected presence of individuals ormachines, environmental complexity, physical traffic (e.g., land-boundtraffic, pedestrian traffic, aerial vehicle traffic), wireless ornetwork traffic, detected degree of noise, detected movements, detectedheat signatures, or any other factor.

The flight regulations may elicit any type of flight response measure bythe UAV. For instance, the UAV may change course. The UAV mayautomatically enter an autonomous or semi-autonomous flight control modefrom a manual mode, or may not respond to certain user inputs. The UAVmay permit another user to take over control of the UAV. The UAV mayautomatically land or take-off. The UAV may send an alert to a user. TheUAV may automatically slow down or speed up. The UAV may adjustoperation (which may include ceasing operation, or changing parameter ofoperation of) of a payload, carrier, sensor, communication unit,navigation unit, power regulation unit. The flight response measure mayhappen instantaneously, or may occur after a period of time (e.g., 1minute, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes). Theperiod of time may be a grace period for the user to react and exercisesome control over the UAV before the flight response measures kick ininstance, if the user is approaching a flight restricted zone, the usermay be alerted and may change course of the UAV to exit the flightrestricted zone. If the user does not respond within the grace period,the UAV may be automatically landed within the flight restricted zone. AUAV may normally operate in accordance with one or more flight commandsfrom a remote controller operated by a remote user. The flight responsemeasures may override the one or more flight commands when the set offlight regulations and the one or more flight commands conflict. Forexample, if the user instructs the UAV to enter a no-fly zone, the UAVmay automatically alter course avoid the no-fly zone.

The set of flight regulations may include information about one or moreof the following: (1) an allocated volume and/or region over which theset of flight regulations may apply, (2) one or more rules (e.g., UAV,payload, carrier, sensor, communication module, navigation unit, powerunit operation) (3) one or more flight response measures (e.g., responseby the UAV, payload, carrier, sensor, communication module, navigationunit, power unit) to cause the UAV to conform with the rules, or (4)time or any other factor that may affect the allocated volume and/orregion, the rule, or the flight response measure. The set of flightregulations may include a single flight regulation, which may includeinformation about (1), (2), (3), and/or (4). The set of flightregulations may include multiple flight regulations which may eachinclude information about (1), (2), (3), and/or (4). Any types of flightregulations may be combined, and any combination of flight responsemeasures may occur in accordance with the flight regulations. One ormore allocated volumes and/or regions may be provided for a set offlight regulations. For example, a set of flight regulations may beprovided for a UAV, where the set of flight regulations does not permitthe UAV to fly within a first allocated volume, does permit the UAV tofly within the second allocated volume under an altitude ceiling butdoes not permit operation of a camera on-board the UAV, and only permitsthe UAV to record audio data within a third allocated volume. The UAVmay have flight response measures that may cause the UAV to comply withthe flight regulations. Manual operation of the UAV may be overridden tocause the UAV to comply with rules of the flight regulations. One ormore flight response measures may automatically occur to override manualinput by the user.

A set of flight regulations may be generated for a UAV. Generation ofthe set of flight regulations may include creating the flightregulations from scratch. Generation of the set of flight regulationsmay include selecting a set of flight regulations from a plurality ofavailable sets of flight regulations. Generation of the set of flightregulations may include combining features of one or more sets of flightregulations. For instance, generation of a set of flight regulations mayinclude determining elements, such as determining an allocated volumeand/or region, determining one or more rules, determining one or moreflight response measures, and/or determining any factors that may causeany of the elements to be dynamic. These elements may be generated fromscratch or may be selected from one or more pre-existing elementoptions. In some instances, flight regulations may be manually selectedby a user. Alternatively, the flight regulations may be selectedautomatically with aid of one or more processors, without requiringhuman intervention. In some instances, some user input may be provided,but one or more processors may make the final determination of theflight regulations in compliance with the user input.

Designation of Permission Parameters

FIG. 5 illustrates a method 500 for managing a component utilized inoperation of an unmanned aerial vehicle (UAV), in accordance withembodiments. The method may illustrate an example of a higher levelauthority user (e.g. owner, manager) designating an operationalparameter for an operator of the component. In some instances, themethod may be implemented with aid of one or more processors. The one ormore processors may be integrated at a single location or may bedistributed at a plurality of different locations and may individuallyor collectively implement any of the below mentioned steps. Thecomponent may be any component as previously described herein, e.g. usedin association with a UAV. For example, the component may be a sensorlocated on board a UAV. In some instances, the component may be apayload on board a UAV. The payload may be an imaging device. Thecomponent may be a flight controller of a UAV, or may be a remotecontroller of the UAV. In some instances, the component may be a UAV.

In step 501, data regarding an input may be received. The input may bereceived from a user at a user interface (UI). The user may be any userinvolved in operation of the UAV as previously described herein. Forexample, the user may be an owner or a manager of the UAV. Optionally,the user may be an operator of the UAV. In some instances, receivingdata regarding the input may comprise receiving a confirmation from anowner or a manager of the UAV confirming the operational parameter forthe component.

The user interface may be any type of UI, e.g. GUI, which may beaccessible by any means. In some instances, the input may be received ata computer or a mobile device. The user interface may be operablycoupled to a computer. The input may be configured to designate anoperational parameter for the component for a registered operator of theUAV. In some instances, the input may be configured to designate anoperational parameter for the component specifically for a registeredoperator of the UAV, e.g. out of a plurality of different registeredoperators of the UAV. In some instances, the component may be configuredto be utilized by a plurality of different operators. In such instances,the user interface may further be utilized to designate the plurality ofdifferent operators.

For example, the input may modify information contained in a database,substantially described above. For example, the component may be a UAV,and the input may be configured to register and/or associate anoperational parameter such as a maximum velocity of the UAV, a maximumaltitude of the UAV, a maximum acceleration of the UAV, a maximumallowed flight distance of the UAV, a maximum allowed flight time of theUAV, and/or a requirement of supervision of the UAV during flight forthe registered operator of the UAV. As another example, the componentmay be sensor on board the UAV, and the input may be configured toregister and/or associate an operational parameter of the sensor for theregistered operator. As another example, the component may be a payloadon board the UAV and the input may be configured to register and/orassociate an operational parameter of the payload for the registeredoperator.

In step 503, the received data may be processed. In some instances, thedata may be processed at a database (e.g. cloud based database) so as toproperly associate the operational parameters only for the registeredoperator in question, and not for additional registered operators.Optionally, the input may be processed so as to determine whether thedesignated operational parameters are proper operational parameters forthe component. In some instances, processing the data may comprisedetermining a current operator of the UAV of a plurality of differentoperators for the UAV.

In step 505, the operational parameter for the component may be imposed.In some instances, the operational parameter for the component may beimposed specifically to the registered operator of the component.Optionally, steps 501-505 may be repeated for a different operator ofthe UAV. For example, the user interface may be configured to receive asecond input from the user, wherein the second input designates anoperational parameter for the component specifically for a seconddesignated operator of the UAV.

In some instances, a non-transitory computer readable medium may beprovided for implementing the method 500. The non-transitory computerreadable medium may comprise code, logic, or instructions to: with aidof one or more processors, individually or collectively, receive dataregarding an input received from a user at a user interface, wherein theinput designates an operational parameter for the component specificallyfor a registered operator of the UAV; process the data; and impose theoperational parameter for the component specifically to the registeredoperator of the UAV.

In some instances, a system may be provided for implementing the method500. The system may comprise: one or more processors, individually orcollectively configured to: receive data regarding an input receivedfrom a user at a user interface, wherein the input designates anoperational parameter for the component for a registered operator of theUAV; process the data; and impose the operational parameter for thecomponent specifically to the registered operator of the UAV. FIG. 22describes an exemplary system utilized for granting and managing usepermission for operators, in accordance with embodiments. For example,an owner or a designated management personnel may use a platform 2201 tomanage the users (e.g. operators), designated management personnel, UAVcomponents, etc. In some instances, the platform may be of an identityregistration, authorization and management system of a UAV manufactureror relevant authority. The platform may receive an applicationinformation from a visualized ground station by an operator who desiresto operate a UAV. The operator may input information in a user login,information entry and authorization module which may form a basis of theapplication. The information may be passed to an information managementmodule for service application which is further transmitted to averifying module which relevant owners or designated managementpersonnel may interact with and confirm for use. In some instances, ahistorical database may exist (e.g. stored information regarding past,verified, or confirmed operators) and automatic confirmation of thepermission may be granted to the operators. Relevant use permissions orrestrictions may be imposed depending on permission levels for theoperators.

In some instances, users and/or designated management personnel may berequired for identity entry and matching before being permitted tomanagement UAV components and/or operators, substantially as describedthroughout. The platform may comprise a database, which may confirmpermission automatically for an operator, or alternatively, in responseto receiving a request from the user. In some instances, the operatormay be able to view the permission parameters (e.g. operationalparameters) for example, at a permission viewing and confirming module2203. Optionally, the confirmed permissions may be transmitted tovarious other UAV components such as manual control device or UAV whichmay or may not comprise a module for authorization of the identityinformation and permission management. In some instances, an identityinformation setting module of the UAV components may further store ormanage an identity of owners, identity of operators, identities of UAVcomponents, and/or operational parameters such as restrictionsassociated with the UAV.

Based on confirmation of permissions and designation of relevant usepermissions or restrictions, relevant information may be transmitted tovarious other UAV components such as manual control device systems 2205and flight platforms 2207, e.g. UAVs. At the manual control device,identity authorization, setting, and saving module may set or confirm anidentity of the owner, identity of operators, identity of controllableUAVs or UAV components, and management and restriction of permissions ofthe operators. At the UAV or flight platform, a module for authorizationof the identity information and permission management may receive therelevant information and further transmit it to an identity informationsetting module which may set or confirm an identity of the owners,identity of operators, identities of manual control devices/visualizedground stations, and/or operating management and restrictions. Thisinformation may be saved in an identity information storage module insome instances.

Factors Governing Flight Regulations

In some instances, additional factors may be taken into considerationfor imposing operational parameters, or flight regulations, on operationof the UAV. FIG. 6 shows an example of various factors that may go intogeneration of a set of flight regulations, in accordance withembodiments. For instance, operational parameters (e.g. registered orinput with a database) 610, internal factors 620, and/or externalfactors 630 may go into generation of a set of flight regulations 640.In some instances, only user operational parameters is considered, onlyinternal factors are considered, only external factors are considered,or any number or combination of these factors are considered ingenerating the set of flight regulations. While headings of operationalparameters registered on a database, internal factors, and externalfactors are shown for purposes of describing various factors, it is tobe understood that the various factors are not necessarily partitionedinto the three headings and that any of the factors described herein maybe subsumed in any of the other headings 610, 620, 630.

Operational parameters registered on a database may be as substantiallydescribed above. For example, these parameters may be designated on adatabase by a user, e.g. owner, manager, or operator of a UAV component.

Internal factors may include factors internal to the UAV components.Internal factors may be taken into consideration for generation of a setof flight regulations. In some instances, the internal factors mayinclude predetermined factors, or user imposed factors. For example, aUAV component (e.g. UAV) may comprise various rules, or requirements. Insome instances, the UAV component may comprise a requirement forauthentication, e.g. as described above. Alternatively or in addition, aUAV component may comprise a requirement for verification. Optionally, aUAV component may comprise a requirement for connecting to a database,or having online connectivity. In some instances, a UAV component maycomprise a requirement for transmitting data to a database and/orreceiving data from the database. In some instances, compliance with therequirement may be checked for. In some instances, compliance with therequirement may be checked for in accordance with a predeterminedcriterion. The predetermined criterion may also be referred to as atriggering condition. For example, the triggering condition may elicitthe requirement for authentication. The requirement and/or thepredetermined criterion may be preset, e.g. by a UAV componentmanufacturer. Alternatively or in addition, the predetermined criteriamay be user configured, e.g. set according to a user input such as anowner, manager, and/or operator input.

The predetermined criterion, or triggering condition, may be of anytype. For example, the criterion may be a temporal condition, ageo-spatial condition, electrical condition, etc. In some instances, aplurality of different criterions must be met for the requirement to befulfilled. As one example, a UAV component may comprise a requirementfor authentication at a set time interval. The set time interval may beequal to or less than about 3 days, 2 weeks, 7 days, 5 days, 3 days, 2days, 24 hours, 18 hours, 12 hours, 6 hours, 3 hours, or 1 hour. In someinstances, a UAV component may comprise a requirement for authenticationaccording to a change in distance. The change in distance may bemeasured according to any available means, e.g. GPS signal. The changein distance may be measured from a previous location where therequirement (e.g. authentication for the UAV component) was met. Asanother example, a UAV component may comprise a requirement forauthentication according to a location. For example, if an operator of aUAV is attempting to operate the UAV in an area not recognized by thesystem or previously designated (e.g. by a user such as an owner,manager, or operator or by a relevant authority such as a jurisdictionalauthority or UAV manufacturer), a requirement for authentication may beimposed. As another example, a UAV component may comprise a requirementfor authentication according to turning on of the UAV or a UAVcomponent. For example, if a UAV is turned on after being turned off, arequirement for authentication may be imposed. While select examples aregiven above, it is to be understood that the UAV may comprise variousadditional requirements and triggering conditions for the checkingcompliance with the requirements. Additionally, the requirementsdescribed with respect to authentication requirements may be equallyapplicable to connectivity requirements, e.g. to the database.

In some instances, compliance with the requirements referred to abovemay be configured to impose no additional flight regulations, e.g. inaddition to operational parameters registered on a database and/orflight regulations imposed by external factors. In some instances,non-compliance with the requirements may be configured to imposeadditional flight regulations. For example, non-compliance with therequirements may disable a UAV component (e.g. UAV, payload, sensor,etc). For example, non-compliance with the requirements may ground aflight of a UAV. For example, non-compliance with the requirements mayreport a suspicious activity to a user (e.g. owner, manager, operator,etc) of a UAV component or report a suspicious activity to a relevantauthority such as jurisdictional authority or UAV componentmanufacturer. Optionally, non-compliance with the requirements may actto supply a warning message to a current operator of a UAV component.Various additional flight regulations substantially described elsewheremay additionally be imposed.

In some instances, a degree of flight regulation that is imposed maydepend on failure to comply with the requirement and/or correspond witha degree of deviation from the predetermined criterion, or triggeringcondition. Degree of flight regulation referred herein may refer to astrictness and/or severity of flight restriction. For example, if thepredetermined criterion is a time interval (e.g. 24 hours), a warningsignal may be provided the first time a requirement (e.g.authentication) is not complied with. If another 24 hours have passedand the requirement is still not complied with, flight of a UAV may berestricted (e.g. altitude restriction, speed restriction, accelerationrestriction, distance restriction, time restriction, etc). Subsequently,for continued non-compliance, a UAV component may become inoperational(e.g. locked) and/or a report may be submitted to a relevant authority.

In some instances, external factors may be taken into consideration forimposing, or generating, flight regulations. External factors mayinclude factors external to the UAV components. In some instances, theexternal factors may include predetermined factors. In some instances,external factors may include, information originating from externalsources, e.g. air traffic control or geofencing devices. In someinstances, information about a local environment (e.g., environmentalcomplexity, urban vs. rural, traffic information, climate information),information from one or more third party sources (e.g., governmentsources, such as the FAA), or any other factors may be taken intoconsideration for generation of a set of flight regulations.

In some instances, a most restrictive flight regulation may be imposed,taking into consideration the various factors. For example, externalfactors may require that a UAV fly beneath 400 feet and that the payloadbe turned off. Operational parameters registered on a database mayrequire that the UAV fly beneath 200 feet and have no payloadrestrictions. If so, the actual flight regulation that is imposed mayrequire that the UAV fly beneath 200 feet and that the payload be turnedoff. Alternative in some instances, a hierarchy may be provided to thedifferent factors that affect flight regulation. The rules from thefactors higher up in the hierarchy may prevail. The rules from thefactors higher up in the hierarchy may prevail regardless of whetherthey are more or less restrictive than the factors lower in thehierarchy.

Increasing Flight Regulation with Non-Compliance

FIG. 7 illustrates a method 700 for restricting a flight of an unmannedaerial vehicle (UAV) for a user, in accordance with embodiments. Themethod may be utilized to generate a flight regulation taking intoconsideration various factors as referred to above. In step 701, aninput from an operator of a UAV may be received. Optionally, the inputmodule may recognize and/or identify the operator. In some instances,the input module may comprise a fingerprint sensor and may receive theoperator's fingerprint. In some instances, the input module may compriseimaging device, or image capture means. A captured image may be operablycoupled to an image recognition means such as an image recognitionalgorithm which may be able to recognize and/or identify the operator.In some instances, the input module may be configured to receive a userID and/or password from the operator. Alternatively or in addition, theinput module may be configured to receive a credit card or other itemsfrom the operator. Various other input modules and types of input theymay accept are described elsewhere in this application.

Steps 703-705 may be implemented individually or collectively with aidof one or more processors. The one or more processors may be located onboard a mobile device, on board the UAV, and/or on board a controller.In step 703, whether the input is consistent with data received from adatabase may be processed or verified according to a predeterminedcriterion. In some instances, processing a consistency of the data withthe input may comprise authenticating the operator. The database may beas substantially described elsewhere. For example, the database may be acloud based database. The database may provide a means to configureoperational parameters for various UAV components specifically forindividual users or operators. In some instances, the data may compriseverified information associated with a user of the UAV. Optionally, thedata may comprise a registered information associated with a user of theUAV. The verified information and/or registered information may comprisea verified identity of a user, and/or a verified permission level of theUAV for the user.

As used herein, not receiving data from a database may run afoul of thepredetermined criterion, as it may not allow processing to check whetherthe input is consistent with data from a database. In some instances,the predetermined criterion may be verifying consistency at apredetermined time interval. Optionally, the time interval is equal toor less than 24 hours. Alternatively or in addition, the predeterminedcriterion may be processing consistency within a predetermined change indistance of the UAV. The predetermined change in distance may bemeasured from a previous location where data from the database had beenreceived. In some instances, the predetermined criterion may beprocessing a consistency before a taking off of the UAV. Alternativelyor in addition, the predetermined criterion may be processing theconsistency before turning off of the UAV. The predetermined criterionmay be configurable by the user and/or may be configured according to arelevant jurisdictional authority or a manufacturer of the UAV.

In step 705, a restriction on flight of the UAV may be imposed. In someinstances, if processing is successful, the restriction may be imposedaccording to operational parameters, e.g. designated by owners ormanager. In some instances, if processing is successful, the restrictionmay be imposed according external factors. If processing is unsuccessfulto verify the consistency, restrictions on flight of the UAV may beimposed. In some instances, a degree of restriction on the flight thatis imposed may be correlated with a degree of deviation from thepredetermined criterion.

The restriction may comprise any restriction or flight regulationdescribed throughout. In some instances, the restriction imposed on theUAV comprises a warning signal. Optionally, the warning signal is avisual, sensory, and/or auditory signal. In some instances, therestriction imposed on the UAV may comprise a restriction on a speed,altitude, or acceleration of the UAV. Alternatively or in addition, therestriction imposed on the UAV may comprise a restriction on anoperational mode of the UAV. The operational mode of the UAV maycomprise an autonomous mode of the UAV. In some instances, therestriction imposed on the UAV may prevent a taking off of the UAV.Optionally, the restriction imposed on the UAV may force a landing ofthe UAV. In some instances, the restriction imposed on the UAV maycomprise a restriction on a component utilized in operation of the UAV.The component may be a payload of the UAV, such as an imaging device.

In some instances, a system may be provided for restricting a flight ofan unmanned aerial vehicle (UAV) for a user. The system may be capableof implementing the method 700. In some instances, the system maycomprise: one or more receivers configured to receive data from adatabase comprising verified information associated with a user of theUAV; an input module configured to receive an input from an operator ofthe UAV; and one or more processors, individually or collectively,configured to: verify, according to a predetermined criterion, whetherthe input is consistent with the data; and impose a restriction on theflight of the UAV when the verified input is determined to beinconsistent with the data, wherein a degree of restriction on theflight is correlated with a degree of deviation from the predeterminedcriterion.

In some instances, a non-transitory computer readable medium may beprovided for restricting a flight of an unmanned aerial vehicle (UAV).The non-transitory computer readable medium may be capable ofimplementing the method of 700. The computer readable medium maycomprise code, logic, or instructions to: receive, at an input module,an input from an operator of the UAV; with aid of one or moreprocessors, individual or collectively, verify, according to apredetermined criterion, whether the input is consistent with data froma database received at one or more receivers, wherein the data comprisesverified information associated with a user of the UAV; and impose arestriction on the flight of the UAV when the verification is determinedto deviate from said predetermined criterion, wherein a degree ofrestriction on the flight is correlated with a degree of deviation fromthe predetermined criterion

Offline Authentication

As described above, UAV components may comprise various requirements ormay operate according to various rules, e.g. online connectivity,communication with a database, authentication according to predeterminedcriteria, etc. For example, logging in by an operator and/orauthentication of the operator may be required for taking off of a UAV.As another example, connection to a database, or online connectivity,may be required for configuring management authority for individuals,configuring operational parameters for various users and/or UAVcomponents. In some instances, it may be desired to have fullfunctionality of managing various users, UAV components, and allowingUAV components' operations where online connectivity may be limited, orunavailable. In areas where online connectivity is limited, it may stillbe desired to provide an avenue to authenticate and/or manage UAVcomponent(s) appropriately according to registered identities and/oroperational parameters. Accordingly, ability to store and/or manageidentity information (e.g. of UAV components or users) and operationalparameters in an offline manner may be beneficial.

In some instances, one or more storage modules for storing data from thedatabase may be utilized by the authentication system. The one or morestorage modules may store information about the users, remotecontrollers, and/or the UAV component(s). Alternatively or in addition,the one or more storage modules may store information regarding anoperation of the UAV component(s). For example, the one or more storagemodules may store information regarding a flight of a UAV. The one ormore storage modules may include one or more memory storage units.Optionally, the one or more storage modules may comprise a cache memoryand/or independent flight recording modules.

In some instances, the one or more storage modules may be configured tostore information according to a predetermined criterion. Thepredetermined criterion may be based on time, a location, memorycapacity, etc. For example, the one or more storage modules may beconfigured to store information for a time equal to or less than about 6months, 3 months, 2 months, 1 month, 2 weeks, 7 days, 5 days, 3 days, 2days, 24 hours, 18 hours, 12 hours, 6 hours, 3 hours, 2 hours, 1 hour,or 30 minutes. Alternatively or in addition, the one or more storagemodules may be configured to store information within a preconfiguredlocation, or for a predetermined change in distance. Alternatively or inaddition, the one or more storage modules may be configured to storeinformation until a data capacity of the one or more storage modules isreached. The one or more storage modules may be provided as a UAVcomponent. In some instances, the one or more storage modules may beprovided on-board, or may be integrated with, any of the previouslydescribed UAV components. For example, the one or more storage modulesmay be provided on a UAV, on a manual controller, on a mobile device,etc. In some instances, the one or more memory storage units may beprovided together or may distributed over a network and/or at differentlocations. In some instances, the memory storage may be a cloud storagesystem. The memory storage may include one or more databases storing theinformation.

Utilizing the one or more storage modules may provide ability toauthenticate, and/or manage operation of UAV components without realtime connectivity to a database, which has been substantially describedas being utilized in managing identity information (e.g. of UAVcomponents or users) and operational parameters for the UAV components,for various users. Utilizing the one or more storage modules may provideability to manage various users or designate various authority levels oroperators without real time connectivity to a database, e.g. whilesubstantially maintaining functionality of the overall system havingonline connectivity. In some instances, the one or more storage modulesmay maximize a region in which UAV component(s) can operate in, as wellas maximize an operating capacity of UAV component(s). Beneficially, theone or more storage modules may enable operation of a UAV withaccountability and according to a user set operational parameters inareas where connectivity to a database is limited. In some instances,the one or more storage modules may ensure a reliability and integralityof flight data.

Online Identity and Permission Management

FIG. 8 illustrates a system for managing offline identity and permissionmanagement for a UAV with network connectivity, in accordance withembodiments. As illustrated, UAV component(s) 801 may communicate with adatabase 803, e.g. online database. The online database may beaccessible for example, through a platform that enables users to manageand/or configure various identity related information (e.g. UAVcomponent identity, user identity, etc) as well as operationalparameters for UAV components for users. In some instances, the platformmay be provided by various relevant authorities such as UAVmanufacturers or jurisdictional authorities such as governmentalauthorities.

A user 805 may manage various other users (e.g. lower authority levelusers), UAV components, and/or operational parameters for the UAVcomponents for desired users substantially as described elsewhere. Forexample, using a remote controller (e.g. mobile device) or computer, theuser may provide an input 807 to affect information contained within thedatabase. In some instances, the input may be associate identities ofvarious components such that they are registered to be utilized with oneanother. Alternatively or in addition, the input may register identitiesof various components for use. As another example, the user mayassociate specific user IDs to UAV components and/or may registeroperational parameters for the specific users. As another example, theuser may designate managers or operators for UAV components. Once theconfiguration is completed, identity information and/or operationalparameters that are input may be transmitted to the database orplatform. In some instances, the transmitted identity information and/oroperational parameters may be confirmed by the platform, e.g. registeredin the database.

Subsequently, the confirmed information may be transmitted 809 to a UAVcomponent(s) 801, such as a mobile device. In some instances, theconfirmed information may be transmitted to the UAV component in realtime, or according to a predetermined criterion such as a temporal orspatial condition. For example, the confirmed information may beconfigured to be transmitted to, or received by, one or more UAVcomponents at a predetermined time interval. Alternatively or inaddition, the confirmed information may be configured to be transmittedto, or received by, one or more UAV components in response to astimulus. For example, an operator (e.g. current operator) 811 of theUAV component may provide an input at input module 813. As one example,the operator may provide a user ID and a password. Based on the input,data may be transmitted to the database 803 to request relevantinformation to be transmitted to UAV component(s) 801. For example,based on input, a request for the confirmed information to betransmitted to the UAV components may be transmitted.

The confirmed information may be received by the UAV component(s) asdescribed above. Optionally, the received confirmed information may bestored in one or more storage modules 817. Once the above configurationand confirmation is completed, a user or operator may be capable ofbeing authenticated and operating the UAV reliability and according touser defined operational parameters without real time connection to thedatabase, e.g. in an offline manner.

FIG. 9 illustrates a more detailed view of a system 900 for managingoffline identity and permission management for a UAV with networkconnectivity, in accordance with embodiments disclosed herein. Forexample, a user may input identity and/or permission data at a platformdescribed above. The platform may in some instances comprise a databasefor storing the information, e.g. identity and permission data foroffline operation. The platform may be provided as an identityregistration, authentication and management system. The platform may beoffered by a manufacturer of UAV component(s) and/or by relevantauthorities such as jurisdictional authorities.

The platform and/or user may interact with various UAV components. As anexample, a user may input a user login at a visual ground station of theUAV. The information at a database (or platform) may be transmitted to auser login and authentication module to authenticate the user login. Insome instances, the information at a database may additionally transmitan identity and permission data to an identity and permission managementmodule of the UAV component such as a visual ground station. Optionally,the modules of the UAV components may communicate (e.g. receive and/ortransmit) data with the platform. In some instances, the communicationcapability between the UAV components and the platform may enable themost up to date information to be contained in the various components.Optionally, the various information described herein may be stored in anidentity and permission data storage module, e.g. for offline operation.

The information described herein may further be transmitted through adata interface. The data interface may utilize wired and/or wirelessmeans. The data interface may transmit and/or receive data with variousother UAV components. As an example, the identity and permission datareceived at a visual ground station may be transmitted via a datainterface to a manual controlling device's data interface. The data mayfurther be authenticated or verified for the manual controlling device.Optionally, the data may be stored at a relevant module of the manualcontrolling device, e.g. identity and permission management module.

The information referred to above may further be transmitted through adata interface. The data interface may utilize wired and/or wirelessmeans. In some instances, the information may be transmitted via awireless link module to another UAV component. For example, a manualcontrolling device's wireless link module may be utilized to transmitand/or receive data with a wireless link module of a UAV. In someinstances, information such as the identity and permission data may betransmitted from the manual controlling device to the UAV. In someinstances, the identity and permission data may be stored in an identityand permission management module of the UAV. Optionally, the identityand permission data may be utilized in to verify or authenticate a UAVidentity. For example, a UAV identity may be located at a UAV identitystorage module. The UAV identity may be compared against an identity andpermission data transmitted by other UAV components, e.g. the manualcontrolling device. Alternatively or in addition, the identity andpermission data may be utilized to verify or validate an operationalparameter (e.g., permission parameter) of the UAV. For example, sensorslocated on board the UAV may compare sensor data to permission datatransmitted by other UAV components. For example, an absolute locationidentity module may compare internal data to permission data received bythe UAV.

Offline Identity and Permission Management

FIG. 10 illustrates a system for managing offline identity andpermission management for a UAV not having network connectivity, inaccordance with embodiments. FIG. 10 may illustrate an example ofconfiguration shown in FIG. 8 that has lost connection with thedatabase. The component(s) 1001 may comprise the one or more storagemodules 1003. The one or more storage modules may comprise confirmedinformation regarding identity information and/or operational parametersas referred to above. In some instances, an input 1007 may be receivedfrom a user 1005. The user may in some instances be a user that providedan input to affect information of the database, e.g. when there wasconnectivity to the database. Alternatively, the user may be a differentuser. The user may or may not be registered to operate UAV component(s)1001.

The input of the user may be received at an input module 1011. The inputmodule and type of information received by the input module aresubstantially described above. As one example, the operator may providea user ID and a password at the input module. The input received at theinput module and confirmed information in the database may in someinstances be processed. For example, data regarding the input receivedat the input module and registered information may be processed to checka consistency of information and/or authenticate the user. In someinstances, the processing, verifying, or checking for consistency maytake place at a matching module 1013 that checks for a consistencybetween the different data or information. As one example, if the inputreceived at the input module comprises information regarding an operatorthat is not registered in the database, a consistency of information inthe one or more storage modules may be not verified. As another example,if the input received at the input module comprises informationregarding a user that is registered with the database, the one or morestorage modules may additionally process additional information, e.g.operational parameters associated with the user, authority level of theuser, etc. As described above, this process may take place withoutconnectivity to the database (e.g. online connectivity) while a validityof the user's identity and associated authority level and/or operationalparameters can still be processed and appropriately imposed.

If the user is an operator of a UAV, upon completeness of the identityand permission authentication, a matching between various othercomponents 1015 of the UAV may be checked as further described below. Insome instances, a matching process with other UAV components may takeplace when the UAV, UAV components are powered on. If the matching checkis successful, the operator may fly the UAV in an offline mode. In someinstances, if a relevant UAV component is not accessible or detached forperforming the above referenced process, an operator identityauthentication request or a login information may be transmitted toother (e.g. remote, temporary, etc) authentication systems to performthe authentication. Upon completing an authentication process, amatching between various components of the UAV may be performed, asdiscussed above.

In some instances, during offline operation or operation withoutconnectivity to the database, a user (e.g. authorized user) mayreconfigure the identity and permission within the UAV system. Forexample, upon completeness of the identity and permissionauthentication, a user, depending on his authority level, may enableanother user to operate UAV components. In some instances, the abilityto operate the UAV components may be temporarily given. A user having ahigher authority level may define and/or restrict another user'soperation permission while there is no connectivity to the database. Forexample, the owner of the UAV component may set a valid time, regionand/or operational parameters for an operator. If the operator operatesUAV components outside the scope of the previous settings, the operatormay not be able to operate the UAV components. Advantageously, thisapproach may enable the designated operator to operate the UAVcomponents only in accordance with settings as configured by the owner.

The identity data and/or flight data during offline flight may be savedin the one or more storage modules 1003. The saved data may betransmitted to the database, e.g. when there is online connectivity. Thesaved data may be encrypted. The saved data in some instances may bestored in a read only mode. Optionally, unless the saved data issubmitted to the database and a confirmation of successful and completedata submission is received from the database, the operator may notdelete or amend the data.

In some instances, the saved data may be required to be uploaded to thedatabase according to a predetermined criterion. The predeterminedcriterion may be based on time, a location, memory capacity, etc. Forexample, the one or more storage modules may be configured to upload thesaved data at a time interval equal to or less than about every 6months, 3 months, 2 months, 1 month, 2 weeks, 7 days, 5 days, 3 days, 2days, 24 hours, 18 hours, 12 hours, 6 hours, 3 hours, 2 hours, 1 hour,or 30 minutes. Alternatively or in addition, the one or more storagemodules may be configured to upload the saved data within apreconfigured location, or for a predetermined change in distance.Alternatively or in addition, the one or more storage modules may beconfigured to upload the saved data if a data capacity of the one ormore storage modules is reached. Alternatively or in addition, the oneor more storage modules may be configured to upload the saved dataaccording to a condition of a UAV. For example, the upload may berequired to take place before a UAV is turned off. Optionally,subsequent offline flight (e.g. flight without connectivity to thedatabase) may be prevented if the saved data is not uploaded orinsufficiently uploaded according to the predetermined criterion. Insome instances, the upload requirement and/or the predeterminedcriterion may be user configurable. Alternatively, the uploadrequirement and/or the predetermined criterion may be compulsory and/ormay be determined by relevant authorities, e.g. jurisdictionalauthorities or UAV component manufacturers.

FIG. 11 illustrates a more detailed view of a system for managingoffline identity and permission management for a UAV without networkconnectivity, in accordance with embodiments. In some instances, FIG. 11illustrates a system of FIG. 9 when no network connectivity with aplatform or online database described throughout can be established. Forexample, a user may have input identity and/or permission datapreviously at a platform described above which had been stored in anidentity and permission data storage module.

A user may input a user login at a visual ground station of the UAV. Theuser may be the same, or a different user than the one who had input theidentity and/or permission data at the platform. The information storedat the identity and permission data storage module may be transmitted tothe user login and authentication module to authenticate the user login.For example, the information may be compared against what had been inputby the user. In some instances, the information stored at the identityand permission data storage module may additionally transmit an identityand permission data to an identity and permission management module ofthe UAV component such as a visual ground station. This may operate todefine permitted operations of the UAV, or configure an operationalparameter of the UAV. In some instances, the identity and permissionmanagement module of the UAV controlling system may enable areconfiguration of permission parameters, e.g. depending on a userauthority level.

The information described herein may further be transmitted through adata interface. The data interface may utilize wired and/or wirelessmeans. The data interface may transmit and/or receive data with variousother UAV components. As an example, the identity and permission datareceived at a visual ground station may be transmitted via a datainterface to a manual controlling device's data interface. The data mayfurther be authenticated or verified for the manual controlling device.Optionally, the data may be stored at a relevant module of the manualcontrolling device, e.g. identity and permission management module.

The information referred to above may further be transmitted through adata interface. The data interface may utilize wired and/or wirelessmeans. In some instances, the information may be transmitted via awireless link module to another UAV component. For example, a manualcontrolling device's wireless link module may be utilized to transmitand/or receive data with a wireless link module of a UAV. In someinstances, information such as the identity and permission data may betransmitted from the manual controlling device to the UAV. In someinstances, the identity and permission data may be stored in an identityand permission management module of the UAV. Optionally, the identityand permission data may be utilized in to verify or authenticate a UAVidentity. For example, a UAV identity may be located at a UAV identitystorage module. The UAV identity may be compared against an identity andpermission data transmitted by other UAV components, e.g. the manualcontrolling device. Alternatively or in addition, the identity andpermission data may be utilized to verify or validate an operationalparameter (e.g., permission parameter) of the UAV. For example, sensorslocated on board the UAV may compare sensor data to permission datatransmitted by other UAV components. For example, an absolute locationidentity module may compare internal data to permission data received bythe UAV.

Offline Flight Management

FIG. 12 illustrates a method 1200 for managing a flight of an unmannedaerial vehicle (UAV), in accordance with embodiments. In step 1201, datareceived from an online database may be stored at one or more storagemodules. The database may be a cloud based database. In some instances,the data may comprise verified information associated with a user. Theverified information may comprise verified, and/or registeredinformation regarding an identity of the user and/or a permission levelof the user. The permission level used throughout may refer to anauthority level of the user. In some instances, the permission level mayrefer to an operational parameter of a UAV component for the user. Insome instances, the data may be received with aid of one or morereceivers configured to receive the data from the online database. Theone or more receivers may be provided on any UAV component providedherein.

The one or more storage modules may comprise a cache memory.Furthermore, the one or more storage modules may be located on any UAVcomponent described herein. For example, the one or more storage modulesmay be located on board a mobile device, on board the UAV, and/or onboard a manual controller. The one or more storage modules may beconfigured to store the data for a predetermined period of time. In someinstances, the predetermined period time may be equal to or less than 24hours. Alternatively or in addition, the one or more storage modules maybe configured to store the data at a predetermined location, or within apredetermined distance from the predetermined location. Optionally, theone or more storage modules may be configured to store the data for upto a predetermined data capacity of the one or more storage modules. Insome instances, the one or more storage modules may be configured tostore the data for a predetermined operating session. For example, theone or more storage modules may be configured to store the data whilethe UAV is running.

In step 1203, an input from a user may be received at an input module.The input module is substantially described elsewhere. For example, theinput module may comprise a fingerprint sensor and/or an imagerecognition means. In some instances, the input module may be configuredto receive a user ID and a password from the user. Optionally, the inputmodule may be configured to receive a credit card of the user.

One or more processors may be provided for implementing steps 1205-1209.In step 1205, whether a connection to the database can be establishedmay be determined. In some instances, the connection to the database maybe via wireless communication. The wireless communications may compriseradiofrequency communications, WiFi communications, Bluetoothcommunications, or infrared communications. The wireless communicationsmay be indirect communications. The wireless communications may comprise3G, 4G, or LTE communications.

In step 1207, the input from the user and the stored data may beprocessed if the connection to the database cannot be established.Optionally, if connection to the database can be established, datareceived from the database and the input from the user may be processed.In some instances, the one or more processors may be configured toprocess the input and the stored data to check for a consistency betweenthe input and the verified information. For example, processing the userinput and the data (e.g. received from the database or saved in thestorage module) may comprise checking for a consistency betweeninformation contained in the input and the data as substantiallydescribed elsewhere. Processing the user input and the data may compriseauthenticating the identities (e.g. user identity, UAV componentidentity), permission levels (e.g. user authority level, operationalparameters for UAV components), etc.

In step 1209, the flight of the UAV may be managed according to theprocessing of the input and the stored data. In some instances, the oneor more processors may be configured to generate a signal to restrict aflight of the UAV, thereby managing the flight of the UAV. Therestriction may be a flight regulation of the UAV. In some instances,the one or more processors may be configured to generate a signal toprevent the flight of the UAV if the input and the verified informationare inconsistent.

Optionally, the one or more storage modules may be further configured tostore flight data of the UAV. The stored flight data may further betransmitted to the database, e.g. with aid of a communication module fortransmitting the stored flight data. In some instances, thecommunication module may be configured to upload the flight data of theUAV to the database according to predetermined criteria. Thepredetermined criterion may include, but are not limited to, a change intime, change in location, a change in data capacity of the one or morestorage modules, a beginning of an operating session, or ending of theoperating session. Optionally, the method described above may berepeated for additional users. For example, the method may be utilizedto manage the flight of an unmanned aerial vehicle (UAV) for a seconduser, wherein the data comprises verified information associated with asecond user, and wherein the input module is configured to receive aninput from the second user.

In some instances, a system for managing a flight of an unmanned aerialvehicle (UAV) may be provided. The system may be capable of implementingthe method 1200 and may comprise: one or more storage modules configuredto store data received from an online database, wherein the datacomprises verified information associated with a user; an input moduleconfigured to receive an input from the user; and one or moreprocessors, individually or collectively configured to: determinewhether a connection to the database can be established; process theinput and the stored data if the connection to the database cannot beestablished; and manage the flight of the UAV according to theprocessing of the input and the stored data.

In some instances, a non-transitory computer readable medium formanaging a flight of an unmanned aerial vehicle (UAV) may be provided.The computer readable medium may be capable of implementing the method1200 and may comprise code, logic, or instructions to: store, at one ormore storage modules, data received from an online database, wherein thedata comprises verified information associated with a user; receive, atan input module, an input from the user; with aid of one or moreprocessors, individual or collectively, determine whether a connectionto the database can be established; process the input and the storeddata if the connection to the database cannot be established; and managethe flight of the UAV according to the processing of the input and thestored data.

UAV Components

Various components may be utilized in operation of a UAV, as previouslydescribed herein. For example, a UAV may include one or more propulsionunits that may propel the UAV. In some instances, the propulsion unitsmay include rotor assemblies, which may include one or more motorsdriving rotation of one or more rotor blades. A UAV may be multi-rotorUAV which may include a plurality of rotor assemblies. The rotor blades,when rotating, may provide a propulsive force, such as lift, to the UAV.Various rotor blades of the UAV may rotate at the same speed or atdifferent speeds. Operation of the rotor blades may be used to controlflight of the UAV. Operation of the rotor blades may be used to controltake-off and/or landing of the UAV. Operation of the rotor blades may beused to control maneuvering of the UAV in an airspace.

As another example, a UAV may include a flight control unit. The flightcontrol unit may generate one or more signals that may control operationof the rotor assemblies. The flight control unit may generate one ormore signals that control operation of one or more motors of the rotorassemblies, which may in turn affect the speed of rotation of the rotorblades. The flight control unit may receive data from one or moresensors. The data from the sensors may be used to generate the one ormore flight control signals to the rotor assemblies. Examples of sensorsmay include, but are not limit to, GPS units, inertial sensors, visionsensors, ultrasonic sensors, heat sensors, magnetometers, or other typesof sensors. The flight control unit may receive data from acommunication unit. The data from the communication unit may includecommands from a user. The commands from the user may be inputted via aremote controller that may be transmitted to the UAV. The data from thecommunication unit and/or sensors may include detection of a geo-fencingdevice or information transmitted from a geo-fencing device. The datafrom the communication unit may be used to generate the one or moreflight control signals to the rotor assemblies.

In some embodiments, a flight control unit may control other functionsof the UAV instead of, or in addition to, flight. The flight controlunit may control operation of the payload on-board the UAV. For example,the payload may be an image capturing device, and the flight controlunit may control operation of the image capturing device. The flightcontrol unit may control positioning of a payload on-board the UAV. Forexample, a carrier may support a payload, such as an image capturingdevice. The flight control unit may control operation of the carrier tocontrol positioning of the payload. The flight control unit may controloperation of one or more sensors on-board the UAV. This may include anyof the sensors described elsewhere herein. The flight control unit maycontrol communications of the UAV, navigation of the UAV, power usage ofthe UAV, or any other function on-board the UAV.

As another example, a UAV may operate with aid of one or more storagemodules, communication modules, sensors, controllers, etc which havebeen substantially described above. In some instances, each of the UAVcomponents may comprise an identity module. The identity module may beunique to the UAV component. The identity module may be able to uniquelyidentify and differentiate the UAV component from other UAV components.The UAV component identifier stored in the identity module may not bealtered. The UAV component identifier may be stored in theidentification module in an unalterable state. The identity module maybe a hardware component that stores a unique UAV component identifierfor the component in a manner that prevents a user from altering theunique identifier.

The UAV component identifier may be issued by a database, as describedelsewhere herein. The database may be off-board the UAV. The identitymodule may be configured to receive the UAV component identifier once,and not alter either after the initial receipt. In other instances, theUAV component identifier and the key may be fixed upon receipt, and maynever be written. Alternatively, the UAV identifier may only be modifiedby an authorized party. A regular operator of the UAV may not be able toalter or modify the UAV component identifier in the identity module.

The identity module may be implemented as a Universal SubscriberIdentity Module (USIM). The identity module may be a write-once memory.The identity module may optionally not be externally readable.

The identification module may be inseparable from a corresponding UAVcomponent. The identity module may not be removed from the rest of thecorresponding UAV component without damaging a function of the UAVcomponent. An individually may not manually remove the identity modulefrom the flight control unit.

In some embodiments, the identity module may be issued by a controlentity. A control entity may be any entity that exercises some form ofauthority for identifying the UAVs or over the UAVs. In some instances,the control entity may be a relevant jurisdictional authority such as agovernment agency or an operator authorized by the government. Thegovernment may be a national government, state/province government, citygovernment, or any form of regional government. The control entity maybe a government agency, such as the Federal Aviation Administration(FAA), Federal Trade Commission (FTC), Federal Communications Commission(FCC), National Telecommunications and Information Administration(NTIA), Department of Transportation (DoT), or Department of Defense(DoD). The control entity may be a regulator. The control entity may bea national or an international organization or corporation. The controlentity may be a manufacturer of the UAV or a distributor of the UAV.

In some instances, different UAV components may be utilized incombination depending on circumstances. For example, a single flightcrew may utilize different manual controllers to control a UAV and/ormay be allowed to control different UAVs to carry out different flighttasks. In some instances, to allow UAV components to be utilized asprovided herein, it may be beneficial to impose certain conditions fortheir operations. While exemplary principles and conditions are outlinedbelow, it is to be understood that the conditions are not absolute, andthat various other conditions may be contemplated by a person of skillin the art.

Exemplary Conditions for a Manual Controller

Before a user of the manual controller obtains the manual controller oruses it for the first time, it may be required for an identity of theremote controller to be registered and to be associated with a mobiledevice for control authority to be acquired. Before acquiring thecontrol authority, the manual control device may be unable tocommunicate with the mobile device and/or the UAV except in limitedcircumstances. Before acquiring the control authority, the manualcontroller may be unable to instruct the UAV or establish a data linkwith the mobile device.

The control authority of the manual controller may be classified asowner authority, manager authority, and/or operator authority. Theoperator authority may be specified and established by the owner ordesignated manager of the remote controller. In some instances, theowner or manager of the remote controller may set a service time andservice areas for the operator.

Identity information of the manual controller and personnel havingcontrol authority should be consistent with the information stored inthe database. The owner may cancel the control authority of the manualcontrol device, e.g. via the mobile device, computer, etc. Aftercancelling the control authority, other authorized personnel may set andacquire the control authority of the owner. Before the owner cancels thecontrol authority of the owner, other personnel may not change thecontrol authority of the owner. The owner may have the priority formanaging the authority and may add, change or delete the authority ofothers.

Exemplary Conditions for a UAV

Before a user of the UAV obtains or flies the UAV for the first time, itmay be required for an identity of the UAV to be registered for controlauthority to be acquired. Before obtaining the control authority, theUAV may be unable to communicate with a remote controller (e.g. mobiledevice or manual controller) or perform instructions.

The control authority of the UAV may be classified as owner authorityand operator authority. The operator authority may be specified andestablished by the owner of the UAV. Alternatively, the operatorauthority may be applied for (e.g. by a potential operator) and may beconfirmed by the owner. The operator may control the operations of theUAV via the operator authority. In some instances, the owner of the UAVmay set a service time and areas for the operator.

Identity information of the UAV and personnel having control authorityshould be consistent with the information stored in the database. Theowner may cancel the control authority of the UAV, e.g. via the mobiledevice, computer, etc. After cancelling the control authority, otherauthorized personnel may set and acquire the control authority of theowner. Before the owner cancels the control authority of the owner,other personnel may not change the control authority of the owner. Theowner may have the priority for managing the authority and may add,change or delete the authority of others.

Identity authorization (e.g. identity matching) may be conducted eachtime the mobile device and the manual controller are connected, orinitially when communication is established. If the identities are notconsistent or not within the use authority, the connection may not beestablished and a warning message may be prompted.

Other Conditions

When adding, changing or deleting relevant authority in the manualcontroller or the UAV, it may be required for a network connection to beestablished in real time and the confirmation and authorization shouldbe conducted with the database. Furthermore, the identity information ofthe operator may be recorded and saved in real time during each flightof the UAV. In some instances, it may be required for the UAV componentsto have one sufficient network connection during a predetermined timeinterval, or according to other criteria. For example, it may berequired for the UAV components to have a network connection during apredetermined number of flights. If this condition is not met, a UAV maybe configured to not perform its mission or fly and may provide analarm. The UAV component(s) in operation may collect and record theidentity information or flight data in real time or at predeterminedintervals. The identity information and/or flight data may betransmitted to the database in real time or at regular time intervals.

The UAV components, individually or in combination, may be configured toconfirm an authenticity of the identity information during apredetermined time interval, or according to other criteria. Forexample, it may be required for the UAV components to confirm theauthenticity during a predetermined number of flights. This may help inavoiding others using the UAV and/or remote controller withoutauthorization. Optionally, when setting and changing the identities ofthe operators, UAVs, on-board devices, manual control devices, etc andauthorizing the use permissions of the UAV system and its components,real time connection to the database may be required. If an operatormakes continuous errors in logging in, or if the identity authorizationhas failed a set number of times, the system may become in a lockedstate and resetting and reauthorization of the identity may be requiredwith the database.

UAV Component Identity Matching

Prior to flight of a UAV, mutual confirmation of identities between eachcomponent utilized in operation of the UAV may ensure reliability andmaximize safety of flight. Any and/or all UAV components may require amutual confirmation of identities, also referred as identity matching.For example, the components of the UAV system that need to be subject toidentity matching may include the UAV, positional sensors, one or morestorage modules, manual controller, mobile devices, etc. Optionally, anidentity of the users (e.g. owner, manager, operator, etc) may bechecked for a consistency with the UAV components.

FIG. 13 illustrates an identity matching system, in accordance withembodiments. The various UAV components 1301, 1303, 1305, 1307, 1309 mayeach comprise an identity information. Alternatively, some UAVcomponents may have no identity information. In some instances, some UAVcomponents may require addition of identity information and/or may sharean identity information with other UAV components. In some instances,when a UAV is started, the UAV components may be configured to checkconsistency of identity information with one another. Checking forconsistency may automatically occur without any user input. The checkingfor consistency procedure may be automatically initiated when the UAV ispowered on. For instance, once the UAV is turned on, the checking forconsistency procedure may take place. The checking for consistencyprocedure may be automatically initiated when the UAV starts flight. Thechecking for consistency procedure may be automatically initiated whenthe UAV is powering down. The checking for consistency procedure may beautomatically initiated periodically during operation of the UAV (e.g.,at regular or irregular time intervals). The checking for consistencyprocedure may also occur in response to a detected event, or in responseto user input.

In some embodiments, push communications may be provided between any ofthe components. The push communications may include communications thatare sent from a first component to a second component, where the firstcomponent initiates the communication. The communication may be sentfrom the first component to the second component without any request forthe communication from the second component.

Optionally, pull communications may be provided between any of thecomponents. The pull communication may include communications that aresent from a first component to a second component, where the secondcomponent initiates the communication. The communication may be sentfrom the first component to the second component in response to arequest for the communication from the second component

The communications between any of the components may be automatic. Thecommunications may occur without requiring any instructions or inputfrom a user. The communications may occur automatically in response to aschedule, or detected event or condition. One or more processors mayreceive data, and may automatically generate an instruction for thecommunication based on the received data. Alternatively, one or morecommunications between any two components may be manual. Thecommunications may occur upon instructions or input from a user. A usermay initiate the communication.

The communications may occur in continuously in real-time, may occur inaccordance with a routine (e.g., on a periodic basis with regular orirregular time intervals, or in accordance with a schedule), or in anon-routine manner (e.g., in response to a detected event or condition).A first component may send communications to a second component in acontinuous manner, in accordance with a routine, or in a non-routinemanner.

Communications between any of the components may be direct or indirect.A communication may be provided directly from a first component to asecond component without requiring any intermediary. A communication maybe provided indirectly from a first component to a second component bybeing relayed through an intermediary. The intermediary may be one ormore intermediary devices or networks. Any type of communicationsbetween any of the components may be provided in various manners, suchas those described herein.

Each of the UAV components may be configured to provide an identityinformation. In some instances, the UAV components may provide itsidentity information to the identity matching module 1301. The identitymatching may substantially similar to the matching module describedthroughout. In some instances, the identity matching module may be thematching module described in the context of authentication systems andoffline management of UAV identities and permission parameters. Theidentity matching module may further process the identity information.Processing the identity information may comprise checking for aconsistency between the identity information provided by the UAVcomponent and a registered, or verified identity information. Forexample, the matching module may check for whether the UAV component isconfigured to be utilized for the UAV, or with various other UAVcomponents of the UAV system. The identity matching module may verify orconfirm the identity information that is provided, and provide back amatching result to the UAV component. In some instances, providing backthe matching result may allow use of the UAV component. In someinstances, the identity matching module may confirm the identityinformation and provide control authority to the manual controller 1307.

Optionally, various flight regulations may be imposed if a consistencyof identities cannot be verified. For example, a UAV flight may begrounded if UAV component identities cannot be matched. In someinstances, UAV components whose identities cannot be verified or matchedmay be rendered inoperable or may be disabled. Various other flightregulations may be imposed, which are substantially described elsewhere,if the consistency of identities cannot be verified.

FIG. 14 illustrates a more detailed view of an identity matching system,in accordance with embodiments. Optionally, FIG. 14 may illustrate anidentity system utilized while operating a UAV in a pure manual controlmode. For example, no online connectivity may be available, and thestorage module may or may not comprise verified information. In someinstances, an identity of an operator may be unable to be verified inreal time. In such instances, various flight regulations may be imposed.In some instances, the flight regulations may depend on regulations ofthe jurisdictions the UAV is operating in. In some instances, the flightregulations may be in accordance with user (e.g. owner or manager)designated flight regulations. For example, operation of UAV componentsmay be allowed, e.g. for a predetermined time interval but may beprohibited without subsequent identity authorization. If an identityauthorization is not finished or fails, the UAV components may beprohibited from being utilized, or the UAV may be prohibited fromflying.

As an example, a manual control device 1401 may comprise a set identityinformation of the operator and manual control device. In someinstances, an identity information storage module 1403 may comprise anidentity information itself, or for other UAV components and/or modules.Optionally, various sensors may comprise identity information. Forexample, altitude sensor modules 1405 may comprise identity information.As another example, absolute position sensor modules 1407 (e.g.GPS/Beidou/Gallileo sensors and/or signal sensors in the base station)may comprise identity information. Various other components 1409 maycomprise identity information as well. Each of the components referredabove may transmit the identity information, e.g. to one another or to acentral identity matching module. Optionally, a matching result may betransmitted back. In some instances, a matching result may betransmitted back after a successful matching of identities if thecomponents are authorized or verified to be used in conjunction with oneanother. In some instances, if no matching is accomplished, use of thecomponent may be prevented and/or restrictions on use may be imposed.

In some instances, the user input module may be utilized to reduceflight regulations and/or ensure safe flight and accountability. Theuser input module may be configured to obtain identity information (e.g.of users), and may guarantee an authenticity of the identity informationof the user, or operator, before operation of a UAV component. In suchsituations, flight regulations may be relaxed or cancelled. For example,time limits for authorization of the authenticity of the identityinformation may be relaxed or cancelled.

As described elsewhere, various sensors may be utilized in operation ofa UAV and may be considered a part of the UAV system. The sensors mayinclude absolute position sensors or signal data sources. The sensorsmay be located on controllers, handsets, mobile devices, PCs, basestations, and the like. In some instances, the sensors may be configuredto communicate with satellite positioning systems such as globalpositioning systems (GPS), Beidou satellite navigation systems, andGalileo systems, etc. One sensor, or several sensors with a same typemay be used as part of the UAV system. Alternatively, multiple types ofsensors may be used as part of the UAV system.

The sensors may include altitude sensors. Altitude sensors may beconfigured to measure information including a height of the UAV. Theheight may be measured using a variety of means. For example, the heightmay be measured by a radio signal or radio measurement, by positioningsatellites, with aid of a barometer, with aid of an ultrasonic device,with aid of a visual imaging system, etc. The altitude sensor utilizedin the UAV system may comprise one sensor, or several sensors with asame type. Alternatively, multiple types of sensors may be used as partof the UAV system for altitude measurement.

FIG. 15 illustrates an identity matching system connected to a database,in accordance with embodiments. As illustrated, the UAV component(s) maybe connected to a database, e.g. have network connectivity. In suchinstances, identities of the UAV component(s) may be verified with thedatabase 1501, e.g. via the platform. In some instances, the identitiesof the UAV component(s) may be matched prior to, simultaneously, orsubsequent to verifying or authenticating with the database. In someinstances, when a UAV is started, the UAV components may be configuredto check consistency of identity information with one another.Alternatively or in addition, the UAV components may be configured tocommunicate with the database to check consistency of the identityinformation.

Optionally, various flight regulations may be imposed if a consistencyof identities cannot be verified. For example, a UAV flight may begrounded if UAV component identities cannot be matched. In someinstances, UAV components whose identities cannot be verified or matchedmay be rendered inoperable or may be disabled. Various other flightregulations may be imposed, which are substantially described elsewhere,if the consistency of identities cannot be verified.

FIG. 16 illustrates a more detailed view of an identity matching system,in accordance with embodiments. In some instances, FIG. 16 mayillustrate the identity matching system of FIG. 14 when onlineconnectivity to a network is present. When connected to a network, theidentities of the UAV components and/or the operator may be verifiedwith an identity information management system (e.g. database). Theidentity information management system may be a platform provided by aUAV manufacturer, or relevant jurisdictional authority as previouslydescribed herein. The identity may in some instances be verified byaccount information and/or other identity information such asfingerprint information. In some instances, the identity matching maysubstantially be undertaken as described in FIG. 14. In some instances,the identity matching may substantially be undertaken as described inFIG. 14 but an identity registration, authorization, and managementsystem of a UAV component manufacturer or relevant authority 1601 (e.g.jurisdictional or governmental authority) may receive identityinformation of an operator and UAV system and confirm applicability ofthe identity information.

Qualifications for Operating UAV Components

In some instances, to operate UAV component(s), certain qualificationsmay be necessary to be met. For example, information regarding the usermay be considered. Information about a user may be associated with theuser identifier, or user ID. For example, information about the usertype (e.g., skill level, experience level, certifications, licenses,training) may be associated with the user identifier. Flight history ofthe user (e.g., where the user has flown, types of UAVs the user hasflown, whether the user has gotten into any accidents) may be associatedwith the user identifier. Information about a UAV may be associated witha UAV identifier. For example, information about the UAV type (e.g.,model, manufacturer, characteristics, performance parameters, level ofdifficulty in operation) may be associated with the UAV identifier.Flight history of the UAV (e.g., where the UAV has flown, users who havepreviously interacted with the UAV) may also be associated with a UAVidentifier. Information associated with the user identifiers and/or theUAV identifiers may be considered in determining whether the user isauthorized to operate the UAV. In some instances, additional factors maybe considered such as geographical factors, timing factors,environmental factors, or any other types of factors.

If a user is designated as not being qualified to operate the UAV, theuser may be prohibited from operating UAV components. In some instances,the user not qualified to operate the UAV may operate the UAV whileunder supervision. If no flight supervisor is designated, the user maybe prohibited from operating UAV components.

Identity Matching Process

FIG. 17 illustrates a method for managing a flight of an unmanned aerialvehicle (UAV), in accordance with embodiments. In step 1701, data iscommunicated between a first component having a first identity, a secondcomponent having a second identity, and a third component having a thirdidentity.

The data may comprise information regarding the first identity, thesecond identity, and/or the third identity. Each of the first component,second component, and third component may be components utilized inoperation of the UAV. For example, the first, second, and thirdcomponents may comprise a UAV, manual controller, mobile device,sensors, identity matching module, storage modules, etc. In someaspects, the first component, the second component, and/or the thirdcomponent comprise a controller of the UAV. Alternatively or inaddition, the first component, the second component, and/or the thirdcomponent comprise a flight controller and a mobile device operablycoupled to the UAV. In some instances, the first component, the secondcomponent, and/or the third component comprise a flight controller and asensor on board the UAV. Alternatively or in addition, the firstcomponent, the second component, and/or the third component comprise aflight controller and a payload on board the UAV. Optionally, the firstcomponent may be configured to transmit data with five or morecomponents comprising five or more corresponding identities. Thedifferent components may comprise two or more different owners.

Steps 1703-1705 may be implemented individually or collectively with aidof one or more processors. In step 1703, a consistency between the firstidentity, the second identity, and/or the third identity may beprocessed. In some aspects, the processing may be according toinformation in a database, substantially as described elsewhere. Forexample, a database comprising data regarding a relationship between thefirst identity, the second identity, and the third identity may beutilized as part of a UAV system. The relationship may indicate whetherthe different identities are meant to be utilized in concert. Therelationship between the first identity, the second identity, and/or thethird identity may be configurable by a user. Optionally, the user is anowner of the UAV or a manger of the UAV. In some instances, the one ormore processors may process a consistency between (a) the firstcomponent and the second component, and (b) the first component and thethird component. In some instances, the relationship between thedifferent identities may be specific for a given operator of the UAV.For example, the first identity and the second identity may beconfigured to be utilized in conjunction for a first operator, but not asecond operator. Optionally, the one or more processors may beconfigured to process a consistency between five or more identities.

In step 1705, the flight of the UAV may be managed according to theprocessing. Managing the flight of the UAV may comprise imposing arestriction on flight of the UAV. In some instances, flight regulationsmay be imposed if the consistency between the first identity, the secondidentity, and/or the third identity cannot be verified. Various flightregulations (e.g. restrictions) may be imposed. In some instances, therestriction comprises a prevention of taking off of the UAV. In someinstances, the restriction comprises a warning signal, e.g. a visual,sensory, and/or auditory signal. Optionally, the restriction comprises arestriction on a flight time of the UAV, a restriction on a flightdistance and/or a flight area of the UAV, or a restriction on avelocity, altitude, and/or acceleration of the UAV. In some instances,the restriction is specific to a component, and not the UAV. Forexample, the restriction may comprise restricting an operationalparameter of the second component or the third component. Optionally,the restriction comprises disabling the second component or the thirdcomponent. In some aspects, the restriction comprises restricting anoperational mode of the UAV, such as an autonomous mode of the UAV.

In some instances, a system for managing a flight of an unmanned aerialvehicle (UAV) is provided. The system may be capable of performing themethod of 1700 and may comprise: a first component utilized in operationof the UAV, the first component having a first identity and configuredto communicate data with a second component having a second identity,wherein the data, utilized in operation of the UAV, comprise informationregarding the first identity and the second identity; one or moreprocessors, individually or collectively, configured to: process aconsistency between the first identity, the second identity, and/or thethird identity; and manage the flight of the UAV according to theprocessing.

In other instances, a non-transitory computer readable medium formanaging a flight of an unmanned aerial vehicle (UAV) is provided. Thecomputer readable medium may be capable of performing the method of 1700and may comprise code, logic, or instructions to: communicate databetween a first component having a first identity and (a) a secondcomponent having a second identity, and (b) third component having athird identity, wherein the data comprises information regarding thefirst identity, the second identity, and/or the third identity andwherein each of the first component, second component, and thirdcomponent is utilized in operation of the UAV; with aid of one or moreprocessors, individually or collectively, process a consistency betweenthe first identity, the second identity, and/or the third identity; andmanage the flight of the UAV according to the processing.

Workflows for Registration, Management, and Authentication

As previously described herein, a platform may be provided for users toregister, manage, and/or authenticate UAV components and/or relevantusers. The platform may provide an efficient approach of managing andtracking UAV components and/or determining an identity of any UAVinvolved in accidents or in violation of the law. In some instances,different jurisdictions may comprise different requirements forregistration, management, and/or authentication.

For example, a first type of region may have no mandatory requirementsfor registering and/or authenticating UAV components and/or users (e.g.operators). The first type of region may not require real identityinformation and a user may register with real identity information orany other identity information (e.g. email address, account identity,etc).

A second type of region may have mandatory requirements for registeringand/or authenticating UAV components and/or users (e.g. operators). Thesecond type of region may further require registration of identityon-site. No online interface of authentication may be available. In someinstances, real identity information may be required (e.g. real name,credit card, social security number, etc). The second type of region mayrequire the identity of operators and/or UAV components to be registeredand authenticated in real name. It may not be necessary to store theidentity of operators in the UAV components, and the identity ofoperators and/or UAV components may be registered with the platformprovided by relevant authorities or UAV manufacturers. Alternatively,the second type of region may require the real identity of operators andfurther require the real identity to be stored with the UAV components.Optionally, in view of privacy protection, once the operator isauthenticated by the relevant authority, or authentication system, acertificate containing no real information of the operator may be issuedto the operator. In some instances, the certificate may be a paper-basedcertificate, an operator code, etc. The operator may register the UAVcomponents by using the certificate. Alternatively the second type ofregion may require the real name of the operator for registration and/oroperation of UAV components, and the user may be required to registerand operate the UAV with his or her real name.

In a third type of region may have mandatory requirements for UAVcomponents and/or user authentication. An online interface, such as theplatform and database substantially described herein, may be utilizedfor authenticating an identity of operators or UAV components inaccordance with requirements of the jurisdiction. In some instances,identity may be registered and authenticated on-site, by using realidentity certificates or equivalents. Alternatively or in addition,identity may be registered and authenticated online.

In a fourth type of region a user may register online the identityinformation (e.g. of the UAV components and/or users) through theplatform provided by relevant authorities or UAV manufacturers. Inaddition, the authentication may be handled (e.g. exclusively) throughthe online platform.

For the different types of regions, more than one method of registrationand/or authentication may be supported. Additionally, it is to beunderstood that the various types are offered as examples of differentregions that may have different requirements for registration and/orauthentication and that countless other types of regions may exist.

As provided above, different types of regions may require differenttypes of information, e.g. for registration of identity information orauthentication purposes. Various types of information that may besubmitted for the identity registration and/or authentication mayinclude, but is not limited to: a) non-real-name identity informationsuch as email, phone number, social network/online messenger account; b)pseudo real-name identity information such as paper-based identitycertificate, account/password, identity codes, identity registrationkeys, account/password transmitted by email or mobile devices,activation codes or internet links, credit card/bank cards, etc; c) realname identity information such as identity cards, driver's license,finger prints, retina information, photo/video information, socialsecurity or medical cards, social security numbers, work permits,student cards, military officer certificate, etc.

Different types of regions may comprise different registration,management, or authentication requirements. Different types of regionsmay require different types of information, e.g. identity information.Accordingly, it may be beneficial to provide a platform that canidentify and determine a relevant workflow for a user's identityregistration, authentication and management according to a relevantinformation, herein referred to as a trigger information. The triggerinformation may comprise a location information, nation informationand/or corporation or organization information of the UAV system. Insome instances, such trigger information may be provided by an internetaddress of the user, mobile communications network of the user, by theUAV system itself, or by a manufacturer of the UAV components inoperation. In some instances, the automatic identifying and determiningof the relevant workflow may be mandatory. Alternatively, the automaticidentifying and determining of the relevant workflow may be optional andmay be opted in or out by the user. In some instances, the process maybe preset according to the jurisdiction the UAV is operating in, a typeof UAV or UAV component in operation, a model of UAV or UAV component,operating conditions (e.g. non-restricted airspace operation, integratedairspace operation, line-of-sight operation, beyond line-of-sightoperation, densely populated area operation, and other operation typesbased on a risk level), and/or a type of operator (e.g. publicoperation, civil operation, aviation model operation, consumeroperation, commercial operation, etc).

In some instances if an incorrect workflow is presented to the user forregistering, authenticating, or managing the UAV components or theusers, an avenue for the user to provide a feedback or complaint to arelevant authority (e.g. jurisdictional authority) or UAV manufacturermay be provided. The user's feedback or complaint may be automaticallyprovided to the relevant authority (e.g. jurisdictional authority) orUAV manufacturer to be confirmed and processed.

Workflow Management Process

FIG. 18 illustrates a method for providing a workflow to a user of anunmanned aerial vehicle (UAV), in accordance with embodiments. In step1801, a trigger information for the UAV may be received at one or morereceivers. The trigger information may refer to any information that canbe utilized in providing a relevant workflow to the user. The triggerinformation may comprise a location information of the UAV, ajurisdictional information of the UAV, an organizational information ofthe UAV, an ownership information of the UAV, an operator information ofthe UAV, an environmental information the UAV is operating in, a modelinformation of the UAV, and/or an internet address of the user, UAVsystem, or UAV manufacturers. In some instances, the trigger informationis provided by a mobile communications network of the user, UAV system,or UAV manufacturers.

Steps 1803-1807 may be implemented, individually or collectively, withaid of one or more processors. In step 1803, the trigger information maybe processed.

In step 1805, the workflow may be selected based on the processedtrigger information. The workflow may be a relevant workflow for theuser, given the type of region the user is operating in. In someinstances, the workflow may be selected from two or more workflows, or aplurality of workflows. The workflow may determine a process by whichthe user registers, authenticates, and/or manages the UAV. In someinstances, the two or more workflows may differ in at least a type ofidentity information that is required for the UAV. As describedelsewhere herein, the type of identity information may comprise anon-real name identity information, a pseudo real-name identityinformation, and real name identity information. Alternatively or inaddition, the two or more workflows may differ in at least a method ofregistering that is required for the UAV. For example, the two or moreworkflows may differ in a number of inputs that is required by the userfor registering the UAV, or may differ in a type of information that isrequired from the user for registering the UAV. In some instances, thetwo or more workflows may differ in at least a method of authenticationthat is required for the UAV. For example, the two or more workflows maydiffer in a number of inputs by the user required for authenticating theUAV, or may differ in a type of information required from the user forauthenticating the UAV. In some instances, the two or more workflows maydiffer in at least a method of managing information regarding the UAV ata database. For example, the two or more workflows may differ in anumber of inputs by the user required for managing the information atthe database, or may differ in a type of information that is requiredfrom the user for managing the information at the database. The databasemay be a cloud based database. Optionally, the workflow, or relevantworkflow, may be selected from three, four, five, six, seven, eight,nine, ten, fifteen, twenty, thirty, fifty, one-hundred, or moredifferent workflows. In some instances, the workflow may be selectedfrom a plurality of different workflows.

In step 1807, the workflow may be provided to the user. Accordingly, theuser may automatically be provided with a workflow that is relevant forthe type of region the UAV or the user is operating in such that theuser may submit a relevant type of information or undergo an appropriateprocess for registering, authenticating, and/or managing identities(e.g. UAV component identities, user identities, etc) or permissionparameters. Optionally, a feedback mechanism may be provided to receivefeedback from the user regarding the workflow, e.g. whether the workflowis correctly provided, etc.

In some instances, a system for supporting unmanned aerial vehicle (UAV)workflow management for a user is provided. The system may be capable ofperforming the method of 1800 and may comprise: one or more receiversconfigured to receive a trigger information for the UAV; one or moreprocessors, individually or collectively configured to, process thetrigger information; select a workflow from a plurality of workflowsbased on the processed trigger information, wherein the selectedworkflow determines a process by which the user registers,authenticates, and/or manages the UAV; provide the workflow to the user

In some instances, a non-transitory computer readable medium formanaging a flight of an unmanned aerial vehicle (UAV) for a user isprovided. The computer readable medium may be capable of performing themethod of 1800 and may comprise code, logic, or instructions to:receive, at one or more receivers, a trigger information for the UAV;with aid of one or more processors, individually or collectively,process the trigger information; select the workflow based on theprocessed trigger information, wherein the workflow is selected from twoor more workflows, and wherein the workflow determines a process bywhich the user registers, authenticates, and/or manages the UAV; andprovide the workflow to the user.

Blacklist Mechanism

In some instances, a user may be pre-registered to operate the UAVcomponents. Optionally, only users pre-registered to operate the UAV maybe authorized to operate the UAV components. The users may be aregistered owner, manager, or operator of the UAV components. When auser purchases or receives the UAV, the user may register as an ownerand/or operator of the UAV. In some instances, multiple users may beable to register as an owner and/or operator of the UAV. Alternatively,only a single user may be able to register as an owner and/or operatorof the UAV. The single user may be able to designate one or more otherusers (e.g. manager, operators, lower authority level users) that arepermitted to operate the UAV. In some instances, only users who haveuser identifiers that have been registered to operate the UAV may beauthorized to operate the UAV components. One or more registrationdatabases, referred throughout as databases, may store information aboutregistered users that are permitted to operate the UAV components. Theregistration database may be on-board the UAV or off-board the UAV. Theuser identifier may be compared with the information in the registrationdatabase and the user may only be permitted to operate the UAV if theuser identifier matches a user identifier associated with the UAV in theregistration database. The registration database may be specific to aUAV. For example, a first user may be pre-registered to operate UAV1,but may not be pre-registered to operate UAV2. The user may then bepermitted to operate UAV1, but may not be permitted operate UAV2. Insome instances, the registration database may be specific to a type ofUAV (e.g., all UAVs of a particular model).

In other instances, the registration database may be open, regardless ofUAVs. For instance, users may be pre-registered as operators of UAVs.The users may be permitted to fly any UAV, as long as those specificUAVs don't have any other requirements for authorization.

Alternatively, a UAV may default to permitting all users to operate theUAV. All users may be authorized to operate the UAV. In some instances,all users who are not on a ‘blacklist’ may be authorized to operate theUAV. Thus, when determining whether a user is authorized to operate theUAV, a user may be authorized to operate the UAV as long as the user isnot on a blacklist. Alternatively, users on a blacklist may be preventedfrom being granted permission to operate UAV components. For example,managers may be unable to grant permission to operate UAV components tousers listed on a blacklist. One or more blacklist databases may storeinformation about users that are not permitted to operate UAVcomponents. The blacklist database may store users identifiers of usersnot permitted to operate the UAV components. The blacklist database maybe on-board UAV or off-board UAV. The user identifier may be comparedwith the information in the blacklist database, and the user may only bepermitted to operate the UAV components if the user identifier does notmatch a user identifier in the blacklist database. The blacklistregistration may be specific to a UAV components. For example, users maybe blacklisted from flying a first UAV, but may not be blacklisted fromflying a second UAV. As another example, users may be blacklisted fromutilizing a first remote controller to fly a first UAV but may not beblacklisted from utilizing a second remote controller to fly the firstUAV. In some instances, the blacklist registration may be specific to aUAV type. For instance, users may not be permitted to fly a UAV of aparticular module, while the users are permitted to fly UAVs of othermodels. Alternatively, the blacklist registration need not be specificto a UAV or UAV type. The blacklist registration may be applicable toall UAVs or UAV components. For example, if a user is banned fromoperating any UAV components, then regardless of the UAV identity ortype, the user may not be authorized to operate the UAV, and operationof the UAV may not be permitted. In some instances, the blacklistregistration may be specific to users (e.g. owners, managers, etc). Forexample, if a user is banned from operating a UAV component owned by acertain other user, the user may also be banned from operating any UAVcomponents owned by the certain other user.

The pre-registration or blacklist registration may also apply to otherfactors. For instance, the pre-registration or blacklist registrationmay apply to particular locations or jurisdictions. For instance, a usermay be pre-registered to operate UAV components within a firstjurisdiction while not being pre-registered to operate UAV componentswithin a second jurisdiction. For instance, a user may be blacklistedfrom operating UAV components within a given jurisdiction. In anotherexample, the pre-registration or backlist registration may apply toparticular climate conditions. For instance, a user may be blacklistedfrom operating UAV components when wind speeds exceed 30 mph. In anotherexample, other environmental conditions, such as environmentalcomplexity, population density, or air traffic may be considered.

Additional Considerations for Operating UAV Components

Additional considerations of whether a user is authorized to operate aUAV may depend on user type. For example, user skill or experience levelmay be considered in determining whether the user is authorized tooperate the UAV. Information about a user, such as user type, may beassociated with a user identifier. When considering whether the user isauthorized to operate the UAV, information about the user may beconsidered, such as user type. In one example, a user may only beauthorized to operate the UAV if the user has met a threshold skilllevel. For instance, the user may be authorized to operate the UAV ifthe user has undergone training for UAV flight. In another example, theuser may be authorized to operate the UAV if the user has undergonecertification that the user has certain flight skills. In anotherexample, the user may only be authorized to operate the UAV if the userhas met a threshold experience level. For instance, the user may beauthorized to operate the UAV if the user has logged at least a certainthreshold number of units of time in flight. In some instances, thethreshold number may apply to units of time in flight to any UAV, oronly UAVs of the type matching the UAV. Information about the user mayinclude demographic information about the user. For example, the usermay only be authorized to operate the UAV if the user has reached athreshold age (e.g., is an adult). The information about the user and/orthe UAV may be pulled and may be considered with aid of one or moreprocessors in determining whether the user is authorized to operate theUAV. One or more considerations may be made in accordance withnon-transitory computer readable media in determining whether the useris authorized to operate the UAV.

As previously described, additional factors may be considered indetermining whether a user is authorized to operate the UAV, such asgeographic factors, time factors, or environmental factors. Forinstance, only some users may be authorized as operating the UAV duringthe night, while other users may be authorized to operate the UAV duringthe day only. In one example, a user who has undergone night flighttraining may be authorized to operate the UAV during both the day andthe night, while a user show has not undergone night flight training mayonly be authorized to operate the UAV during the day.

In some instances, different modes of UAV authorization may be provided.For example, in a pre-registration mode, only pre-registered users maybe authorized to fly the UAV. In an open mode, all users may beauthorized to fly the UAV. In a skill-based mode, only users that haveexhibited a certain level of skill or experience may be permitted to flythe UAV. In some instances, a single mode may be provided for userauthorization. In other instances, a user may be to switch between modesof user operation. For example, an owner of the UAV may switch theauthorization mode under which the UAV is to function. In someinstances, other factors, such as location of the UAV, time, level ofair traffic, environmental conditions, may determine the authorizationmode under which the UAV is to function. For example, if theenvironmental conditions are very windy or difficult in which to fly,the UAV may automatically only permit users that are authorized under askill mode to fly the UAV.

When a user is not authorized to operate a UAV, the user is notpermitted to operate the UAV. In some instances, this may result in theUAV not responding to a command from the user and/or a remote controllerof the user. The user may not be able to cause the UAV to fly, orcontrol flight of the UAV. The user may not be able to control any othercomponent of the UAV, such as payload, carrier, sensors, communicationunit, navigation unit, or power unit. The user may or may not be able topower the UAV on. In some instances, the user may power a UAV on, butthe UAV may not respond to the user. If the user is not authorized, theUAV may optionally power itself off. In some instances, an alert ormessage may be provided to the user that the user is not authorized tooperate the UAV. A reason the user is not authorized may or may not beprovided. Optionally, an alert or message may be provided to a seconduser that the user is not authorized to operate the UAV, or that anattempt has been made by the user to operate the UAV. The second usermay be an owner or operator of the UAV. The second user may be anindividual who is authorized to operate the UAV. The second user may bean individual that exercises control over the UAV.

In some alternative embodiments, when a user is not authorized tooperate a UAV, the user may only be permitted to operate the UAV in arestricted manner. This may include geographic restrictions, timerestrictions, speed restrictions, restrictions on use of one or moreadditional components (e.g., payload, carrier, sensor, communicationunit, navigation unit, power unit, etc.). This may include a mode ofoperation. In one example, when a user is not authorized to operate aUAV, the user may not operate the UAV at selected locations. In anotherexample, when a user is not authorized to operate a UAV, the user mayonly operate the UAV at selected locations.

The systems, devices, and methods described herein can be applied to awide variety of objects, including movable objects and stationaryobjects. As previously mentioned, any description herein of an aerialvehicle, such as a UAV, may apply to and be used for any movable object.Any description herein of an aerial vehicle may apply specifically toUAVs. A movable object of the present disclosure can be configured tomove within any suitable environment, such as in air (e.g., a fixed-wingaircraft, a rotary-wing aircraft, or an aircraft having neither fixedwings nor rotary wings), in water (e.g., a ship or a submarine), onground (e.g., a motor vehicle, such as a car, truck, bus, van,motorcycle, bicycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be carried by a living subject, or take off from a livingsubject, such as a human or an animal. Suitable animals can includeavines, canines, felines, equines, bovines, ovines, porcines, delphines,rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 23 illustrates an unmanned aerial vehicle (UAV) 2300, in accordancewith embodiments. The UAV may be an example of a movable object asdescribed herein, to which the method and apparatus of discharging abattery assembly may be applied. The UAV 2300 can include a propulsionsystem having four rotors 2302, 2304, 2306, and 2308. Any number ofrotors may be provided (e.g., one, two, three, four, five, six, ormore). The rotors, rotor assemblies, or other propulsion systems of theunmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length2310. For example, the length 2310 can be less than or equal to 2 m, orless than equal to 5 m. In some embodiments, the length 2310 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa. The UAV may usean assisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 24 illustrates a movable object 2400 including a carrier 2402 and apayload 2404, in accordance with embodiments. Although the movableobject 2400 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 2404 may be provided on the movable object2400 without requiring the carrier 2402. The movable object 2400 mayinclude propulsion mechanisms 2406, a sensing system 2408, and acommunication system 2410.

The propulsion mechanisms 2406 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 2406 can be mounted on the movableobject 2400 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms2406 can be mounted on any suitable portion of the movable object 2400,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 2406 can enable themovable object 2400 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 2400 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 2406 can be operable to permit the movableobject 2400 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 2400 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 2400 can be configured to becontrolled simultaneously. For example, the movable object 2400 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 2400. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 2400 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 2408 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 2400 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 2408 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 2400(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 2408 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 2410 enables communication with terminal 2412having a communication system 2414 via wireless signals 2416. Thecommunication systems 2410, 2414 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 2400 transmitting data to theterminal 2412, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 2410 to one or morereceivers of the communication system 2412, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object2400 and the terminal 2412. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 2410 to one or more receivers of the communication system 2414,and vice-versa.

In some embodiments, the terminal 2412 can provide control data to oneor more of the movable object 2400, carrier 2402, and payload 2404 andreceive information from one or more of the movable object 2400, carrier2402, and payload 2404 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 2406), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 2402).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 2408 or of the payload 2404). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 2412 can be configured tocontrol a state of one or more of the movable object 2400, carrier 2402,or payload 2404. Alternatively or in combination, the carrier 2402 andpayload 2404 can also each include a communication module configured tocommunicate with terminal 2412, such that the terminal can communicatewith and control each of the movable object 2400, carrier 2402, andpayload 2404 independently.

In some embodiments, the movable object 2400 can be configured tocommunicate with another remote device in addition to the terminal 2412,or instead of the terminal 2412. The terminal 2412 may also beconfigured to communicate with another remote device as well as themovable object 2400. For example, the movable object 2400 and/orterminal 2412 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 2400, receivedata from the movable object 2400, transmit data to the terminal 2412,and/or receive data from the terminal 2412. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 2400 and/orterminal 2412 can be uploaded to a website or server.

FIG. 25 is a schematic illustration by way of block diagram of a system2500 for controlling a movable object, in accordance with embodiments.The system 2500 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 2500can include a sensing module 2502, processing unit 2504, non-transitorycomputer readable medium 2506, control module 2508, and communicationmodule 2510.

The sensing module 2502 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 2502 can beoperatively coupled to a processing unit 2504 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 2512 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 2512 canbe used to transmit images captured by a camera of the sensing module2502 to a remote terminal.

The processing unit 2504 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 2504 can be operatively coupled to a non-transitorycomputer readable medium 2506. The non-transitory computer readablemedium 2506 can store logic, code, and/or program instructionsexecutable by the processing unit 2504 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 2502 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 2506. Thememory units of the non-transitory computer readable medium 2506 canstore logic, code and/or program instructions executable by theprocessing unit 2504 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 2504 can beconfigured to execute instructions causing one or more processors of theprocessing unit 2504 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 2504. In some embodiments, thememory units of the non-transitory computer readable medium 2506 can beused to store the processing results produced by the processing unit2504.

In some embodiments, the processing unit 2504 can be operatively coupledto a control module 2508 configured to control a state of the movableobject. For example, the control module 2508 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 2508 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 2504 can be operatively coupled to a communicationmodule 2510 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 2510 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module2510 can transmit and/or receive one or more of sensing data from thesensing module 2502, processing results produced by the processing unit2504, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 2500 can be arranged in any suitableconfiguration. For example, one or more of the components of the system2500 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 25 depicts asingle processing unit 2504 and a single non-transitory computerreadable medium 2506, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 2500 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 2500 can occur at one or more of theaforementioned locations.

While some embodiments of the present disclosure have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the disclosure. It should beunderstood that various alternatives to the embodiments of thedisclosure described herein may be employed in practicing thedisclosure. It is intended that the following claims define the scope ofthe invention and that methods and structures within the scope of theseclaims and their equivalents be covered thereby.

What is claimed is:
 1. A system for managing an unmanned aerial vehicle(UAV), the system comprising: one or more storage media storing offlinedata that comprises verified information associated with a user; aninput device configured to receive an input from the user; a flightregulation module configured to: generate or suggest a set of flightplans for the UAV that comply with a set of flight regulations; suggestmodifications to a first candidate flight plan to put the firstcandidate flight plan in compliance with the set of flight regulations;and reject a second candidate flight plan that is in contradiction tothe set of flight regulations for the UAV; and one or more processors,individually or collectively configured to: determine whether aconnection to an online database is established; and upon determiningthat the connection to the database is not established: process theinput and the offline data to at least determine an inconsistencybetween the input and the offline data according to a predeterminedcriterion, the inconsistency being associated with a degree of deviationfrom the predetermined criterion; and impose a restriction to a flightof the UAV according to the inconsistency between the input and theoffline data, a degree of the restriction being correlated with thedegree of deviation from the predetermined criterion.
 2. The system ofclaim 1, wherein the one or more processors are configured to, upondetermining that the connection to the database is established, (i)process the input and real-time data received from the database thatcomprises the verified information associated with the user, and (ii)manage the flight of the UAV according to the processing of the inputand the real-time data.
 3. The system of claim 1, wherein the one ormore storage media are configured to store the offline data for apredetermined period of time.
 4. The system of claim 1, wherein the oneor more storage media are configured to store the offline data: (i) at apredetermined location, or (ii) within a predetermined distance from thepredetermined location; or for up to a predetermined data capacity ofthe one or more storage media; or for a predetermined operating session.5. The system of claim 1, wherein: the user is a first user; the offlinedata further comprises verified information associated with a seconduser; the input device is further configured to receive an input fromthe second user; and the one or more processors are configured to managea flight of the UAV for the second user.
 6. The system of claim 1,wherein the verified information comprises a verified identity of theuser, and/or a verified permission level of the UAV for the user.
 7. Thesystem of claim 1, wherein the one or more storage media are furtherconfigured to store flight data of the UAV.
 8. The system of claim 7,further comprising a transmitter configured to transmit the flight dataof the UAV to the database.
 9. The system of claim 8, wherein thetransmitter is configured to upload the flight data of the UAV to thedatabase according to a predetermined uploading criterion.
 10. Thesystem of claim 9, wherein the predetermined uploading criterion is achange in time, a change in location, a change in data capacity of theone or more storage media, a beginning of an operating session, or anending of the operating session.
 11. The system of claim 1, wherein theone or more processors are configured to process the input and theoffline data to check for a consistency between the input and theverified information.
 12. The system of claim 1, wherein the one or morestorage media are located on board a mobile device, on board the UAV,and/or on board a controller, and the offline data is stored locally onthe mobile device, the UAV, and/or the controller having the one or morestorage media.
 13. The system of claim 1, wherein the one or morestorage media comprise a cache memory.
 14. The system of claim 1,wherein: the input device comprises a fingerprint sensor or an imagerecognition device; or the input device is configured to receive a userID and a password from the user; or the input device is configured toreceive information about a credit card of the user.
 15. The system ofclaim 1, wherein the database is a cloud based database.
 16. The systemof claim 1, wherein the predetermined criterion includes verifying aconsistency at a predetermined time interval or processing theconsistency within a predetermined change in distance of the UAV. 17.The system of claim 1, wherein: the offline data includes identityinformation previously transmitted from the online database and storedin the one or more storage media; and the input includes identityinformation entered by the user.
 18. The system of claim 1, wherein thedegree of the restriction increases as the inconsistency continues untilthe UAV is grounded or reports to a relevant authority.
 19. A method formanaging an unmanned aerial vehicle (UAV), the method comprising:storing, at one or more storage media, offline data that comprisesverified information associated with a user; receiving, at an inputdevice, an input from the user; with aid of a flight regulation module:generating or suggesting a set of flight plans for the UAV that complywith a set of flight regulations; suggesting modifications to a firstcandidate flight plan to put the first candidate flight plan incompliance with the set of flight regulations; and rejecting a secondcandidate flight plan that is in contradiction to the set of flightregulations for the UAV; and with aid of one or more processors,individual or collectively: determining whether a connection to thedatabase is established; and upon determining that the connection to thedatabase is not established: processing the input and the offline datato at least determine an inconsistency between the input and the offlinedata according to a predetermined criterion, the inconsistency beingassociated with a degree of deviation from the predetermined criterion;and imposing restriction to a flight of the UAV according to theinconsistency between the input and the offline data, a degree of therestriction being correlated with the degree of deviation from thepredetermined criterion.
 20. A non-transitory computer readable mediumfor managing an unmanned aerial vehicle (UAV), the computer readablemedium comprising code, logic, or instructions to: store, at one or morestorage media, offline data that comprises verified informationassociated with a user; receive, at an input device, an input from theuser; with aid of a flight regulation module: generate or suggest a setof flight plans for the UAV that comply with a set of flightregulations; suggest modifications to a first candidate flight plan toput the first candidate flight plan in compliance with the set of flightregulations; and reject a second candidate flight plan that is incontradiction to the set of flight regulations for the UAV; and with aidof one or more processors, individual or collectively: determine whethera connection to the database is established; and upon determining thatthe connection to the database is not established: process the input andthe offline data to at least determine an inconsistency between theinput and the offline data according to a predetermined criterion, theinconsistency being associated with a degree of deviation from thepredetermined criterion; and impose restriction to a flight of the UAVaccording to the inconsistency between the input and the offline data, adegree of the restriction being correlated with the degree of deviationfrom the predetermined criterion.